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Simple Nature

An Introduction to Physics for Engineering

and Physical Science Students

Benjamin Crowell

www.lightandmatter.com

Fullerton, California

www.lightandmatter.com

Copyright c (2001-2008 Benjamin Crowell

rev. January 30, 2009

Permission is granted to copy, distribute and/or modify this docu-

ment under the terms of the Creative Commons Attribution Share-

Alike License, which can be found at creativecommons.org. The

license applies to the entire text of this book, plus all the illustra-

tions that are by Benjamin Crowell. (At your option, you may also

copy this book under the GNU Free Documentation License ver-

sion 1.2, with no invariant sections, no front-cover texts, and no

back-cover texts.) All the illustrations are by Benjamin Crowell ex-

cept as noted in the photo credits or in parentheses in the caption

of the ﬁgure. This book can be downloaded free of charge from

www.lightandmatter.com in a variety of formats, including editable

formats.

Brief Contents

0 Introduction 13

1 Conservation of Mass 53

2 Conservation of Energy 73

3 Conservation of Momentum 125

4 Conservation of Angular Momentum 233

5 Thermodynamics 285

6 Waves 325

7 Relativity 367

8 Atoms and Electromagnetism 411

9 DC Circuits 467

10 Fields 511

11 Electromagnetism 597

12 Optics 683

13 Quantum Physics 765

5

6

Contents

0 Introduction and Review

0.1 Introduction and Review . . . . . . . . . . . . . . 13

The scientiﬁc method, 13.—What is physics?, 16.—How to learn

physics, 19.—Velocity and acceleration, 21.—Self-evaluation, 23.—

Basics of the metric system, 24.—Less common metric preﬁxes,

27.—Scientiﬁc notation, 27.—Conversions, 28.—Signiﬁcant ﬁgures,

30.

0.2 Scaling and Order-of-Magnitude Estimates . . . . . . 33

Introduction, 33.—Scaling of area and volume, 34.—Order-of-magnitude

estimates, 42.

Problems . . . . . . . . . . . . . . . . . . . . . . 45

1 Conservation of Mass

1.1 Mass . . . . . . . . . . . . . . . . . . . . . . 54

Problem-solving techniques, 56.—Delta notation, 57.

1.2 Equivalence of Gravitational and Inertial Mass . . . . . 58

1.3 Galilean Relativity . . . . . . . . . . . . . . . . . 60

Applications of calculus, 65.

1.4 A Preview of Some Modern Physics . . . . . . . . . 66

Problems . . . . . . . . . . . . . . . . . . . . . . 69

2 Conservation of Energy

2.1 Energy . . . . . . . . . . . . . . . . . . . . . 73

The energy concept, 73.—Logical issues, 75.—Kinetic energy, 76.—

Power, 80.—Gravitational energy, 81.—Equilibrium and stability,

86.—Predicting the direction of motion, 87.

2.2 Numerical Techniques . . . . . . . . . . . . . . . 89

2.3 Gravitational Phenomena. . . . . . . . . . . . . . 94

Kepler’s laws, 94.—Circular orbits, 96.—The sun’s gravitational

ﬁeld, 97.—Gravitational energy in general, 97.—The shell theorem,

100.—Evidence for repulsive gravity, 106.

2.4 Atomic Phenomena . . . . . . . . . . . . . . . . 107

Heat is kinetic energy., 108.—All energy comes from particles mov-

ing or interacting., 109.

2.5 Oscillations . . . . . . . . . . . . . . . . . . . 111

Problems . . . . . . . . . . . . . . . . . . . . . . 116

Exercises . . . . . . . . . . . . . . . . . . . . . . 123

3 Conservation of Momentum

3.1 Momentum in One Dimension . . . . . . . . . . . . 126

Mechanical momentum, 126.—Nonmechanical momentum, 129.—

Momentum compared to kinetic energy, 130.—Collisions in one

dimension, 131.—The center of mass, 136.—The center of mass

frame of reference, 140.

3.2 Force in One Dimension . . . . . . . . . . . . . . 141

Momentum transfer, 141.—Newton’s laws, 143.—What force is

not, 146.—Forces between solids, 148.—Fluid friction, 151.—Analysis

of forces, 152.—Transmission of forces by low-mass objects, 154.—

Work, 156.—Simple machines, 163.—Force related to interaction

energy, 164.

3.3 Resonance. . . . . . . . . . . . . . . . . . . . 166

Damped, free motion, 167.—The quality factor, 170.—Driven motion,

171.

3.4 Motion in Three Dimensions . . . . . . . . . . . . 181

The Cartesian perspective, 181.—Rotational invariance, 184.—Vectors,

187.—Calculus with vectors, 201.—The dot product, 205.—Gradients

and line integrals (optional), 208.

Problems . . . . . . . . . . . . . . . . . . . . . . 211

Exercises . . . . . . . . . . . . . . . . . . . . . . 227

4 Conservation of Angular Momentum

4.1 Angular Momentum in Two Dimensions . . . . . . . . 233

Angular momentum, 233.—Application to planetary motion, 238.—

Two theorems about angular momentum, 239.—Torque, 242.—

Applications to statics, 246.—Proof of Kepler’s elliptical orbit law,

250.

4.2 Rigid-Body Rotation . . . . . . . . . . . . . . . . 253

Kinematics, 253.—Relations between angular quantities and mo-

tion of a point, 254.—Dynamics, 256.—Iterated integrals, 258.—

Finding moments of inertia by integration, 261.

4.3 Angular Momentum in Three Dimensions . . . . . . . 266

Rigid-body kinematics in three dimensions, 266.—Angular mo-

mentum in three dimensions, 268.—Rigid-body dynamics in three

dimensions, 273.

Problems . . . . . . . . . . . . . . . . . . . . . . 276

Exercises . . . . . . . . . . . . . . . . . . . . . . 283

5 Thermodynamics

5.1 Pressure and Temperature . . . . . . . . . . . . . 286

Pressure, 286.—Temperature, 290.

5.2 Microscopic Description of an Ideal Gas . . . . . . . 293

Evidence for the kinetic theory, 293.—Pressure, volume, and temperature,

294.

5.3 Entropy as a Macroscopic Quantity. . . . . . . . . . 296

Eﬃciency and grades of energy, 296.—Heat engines, 297.—Entropy,

299.

5.4 Entropy as a Microscopic Quantity . . . . . . . . . . 303

A microscopic view of entropy, 303.—Phase space, 304.—Microscopic

deﬁnitions of entropy and temperature, 305.—The arrow of time,

or “this way to the Big bang”, 313.—Quantum mechanics and zero

entropy, 314.—Summary of the laws of thermodynamics, 315.

8 Contents

5.5 More about Heat Engines. . . . . . . . . . . . . . 315

Problems . . . . . . . . . . . . . . . . . . . . . . 322

6 Waves

6.1 Free Waves . . . . . . . . . . . . . . . . . . . 326

Wave motion, 326.—Waves on a string, 332.—Sound and light

waves, 335.—Periodic waves, 337.—The doppler eﬀect, 340.

6.2 Bounded Waves . . . . . . . . . . . . . . . . . 346

Reﬂection, transmission, and absorption, 346.—Quantitative treat-

ment of reﬂection, 351.—Interference eﬀects, 354.—Waves bounded

on both sides, 356.

Problems . . . . . . . . . . . . . . . . . . . . . . 363

7 Relativity

7.1 Basic Relativity . . . . . . . . . . . . . . . . . . 368

The principle of relativity, 368.—Distortion of time and space,

369.—Applications, 374.

7.2 The Lorentz transformation . . . . . . . . . . . . . 379

Coordinate transformations in general, 379.—Derivation of the

lorentz transformation, 380.—Spacetime, 385.

7.3 Dynamics . . . . . . . . . . . . . . . . . . . . 393

Invariants, 393.—Combination of velocities, 393.—Momentum and

force, 394.—Kinetic energy, 396.—Equivalence of mass and energy,

398.

Problems . . . . . . . . . . . . . . . . . . . . . . 403

Exercises . . . . . . . . . . . . . . . . . . . . . . 408

8 Atoms and Electromagnetism

8.1 The Electric Glue . . . . . . . . . . . . . . . . . 411

The quest for the atomic force, 412.—Charge, electricity and magnetism,

413.—Atoms, 418.—Quantization of charge, 423.—The electron,

426.—The raisin cookie model of the atom, 430.

8.2 The Nucleus . . . . . . . . . . . . . . . . . . . 433

Radioactivity, 433.—The planetary model of the atom, 436.—

Atomic number, 440.—The structure of nuclei, 445.—The strong

nuclear force, alpha decay and ﬁssion, 448.—The weak nuclear

force; beta decay, 451.—Fusion, 454.—Nuclear energy and binding

energies, 456.—Biological eﬀects of ionizing radiation, 457.—The

creation of the elements, 460.

Problems . . . . . . . . . . . . . . . . . . . . . . 463

9 Circuits

9.1 Current and Voltage . . . . . . . . . . . . . . . . 468

Current, 468.—Circuits, 471.—Voltage, 472.—Resistance, 477.—

Current-conducting properties of materials, 484.

9.2 Parallel and Series Circuits . . . . . . . . . . . . . 488

Schematics, 488.—Parallel resistances and the junction rule, 489.—

Series resistances, 493.

Problems . . . . . . . . . . . . . . . . . . . . . . 500

Contents 9

Exercises . . . . . . . . . . . . . . . . . . . . . . 507

10 Fields

10.1 Fields of Force. . . . . . . . . . . . . . . . . . 511

Why ﬁelds?, 512.—The gravitational ﬁeld, 513.—The electric ﬁeld,

517.

10.2 Voltage Related to Field . . . . . . . . . . . . . . 521

One dimension, 521.—Two or three dimensions, 524.

10.3 Fields by Superposition . . . . . . . . . . . . . . 526

Electric ﬁeld of a continuous charge distribution, 526.—The ﬁeld

near a charged surface, 532.

10.4 Energy in Fields . . . . . . . . . . . . . . . . . 534

Electric ﬁeld energy, 534.—Gravitational ﬁeld energy, 539.—Magnetic

ﬁeld energy, 539.

10.5 LRC Circuits . . . . . . . . . . . . . . . . . . 541

Capacitance and inductance, 541.—Oscillations, 545.—Voltage and

current, 547.—Decay, 552.—Review of complex numbers, 555.—

Impedance, 558.—Power, 561.—Impedance matching, 564.—Impedances

in series and parallel, 566.

10.6 Fields by Gauss’ Law . . . . . . . . . . . . . . . 568

Gauss’ law, 568.—Additivity of ﬂux, 572.—Zero ﬂux from outside

charges, 572.—Proof of Gauss’ theorem, 575.—Gauss’ law as a

fundamental law of physics, 575.—Applications, 576.

10.7 Gauss’ Law in Differential Form. . . . . . . . . . . 579

Problems . . . . . . . . . . . . . . . . . . . . . . 584

Exercises . . . . . . . . . . . . . . . . . . . . . . 594

11 Electromagnetism

11.1 More About the Magnetic Field . . . . . . . . . . . 597

Magnetic forces, 597.—The magnetic ﬁeld, 601.—Some applications,

605.—No magnetic monopoles, 607.—Symmetry and handedness,

609.

11.2 Magnetic Fields by Superposition . . . . . . . . . . 611

Superposition of straight wires, 611.—Energy in the magnetic ﬁeld,

615.—Superposition of dipoles, 615.—The biot-savart law (optional),

619.

11.3 Magnetic Fields by Amp` ere’s Law. . . . . . . . . . 623

Amp`ere’s law, 623.—A quick and dirty proof, 625.—Maxwell’s

equations for static ﬁelds, 626.

11.4 Amp` ere’s Law in Differential Form (optional) . . . . . 628

The curl operator, 628.—Properties of the curl operator, 629.

11.5 Induced Electric Fields . . . . . . . . . . . . . . 634

Faraday’s experiment, 634.—Why induction?, 638.—Faraday’s law,

640.

11.6 Maxwell’s Equations . . . . . . . . . . . . . . . 645

Induced magnetic ﬁelds, 645.—Light waves, 647.

11.7 Electromagnetic Properties of Materials . . . . . . . 657

Conductors, 657.—Dielectrics, 658.—Magnetic materials, 660.

Problems . . . . . . . . . . . . . . . . . . . . . . 667

10 Contents

Exercises . . . . . . . . . . . . . . . . . . . . . . 681

12 Optics

12.1 The Ray Model of Light . . . . . . . . . . . . . . 683

The nature of light, 684.—Interaction of light with matter, 687.—

The ray model of light, 689.—Geometry of specular reﬂection,

692.—The principle of least time for reﬂection, 696.

12.2 Images by Reﬂection . . . . . . . . . . . . . . . 698

A virtual image, 698.—Curved mirrors, 701.—A real image, 702.—

Images of images, 703.

12.3 Images, Quantitatively . . . . . . . . . . . . . . 707

A real image formed by a converging mirror, 707.—Other cases

with curved mirrors, 710.—Aberrations, 715.

12.4 Refraction. . . . . . . . . . . . . . . . . . . . 718

Refraction, 719.—Lenses, 725.—The lensmaker’s equation, 727.—

The principle of least time for refraction, 728.

12.5 Wave Optics. . . . . . . . . . . . . . . . . . . 729

Diﬀraction, 729.—Scaling of diﬀraction, 731.—The correspondence

principle, 731.—Huygens’ principle, 732.—Double-slit diﬀraction,

733.—Repetition, 737.—Single-slit diﬀraction, 738.—The principle

of least time, 740.

Problems . . . . . . . . . . . . . . . . . . . . . . 742

Exercises . . . . . . . . . . . . . . . . . . . . . . 755

13 Quantum Physics

13.1 Rules of Randomness . . . . . . . . . . . . . . 765

Randomness isn’t random., 766.—Calculating randomness, 767.—

Probability distributions, 771.—Exponential decay and half-life,

773.—Applications of calculus, 778.

13.2 Light as a Particle . . . . . . . . . . . . . . . . 780

Evidence for light as a particle, 781.—How much light is one photon?,

783.—Wave-particle duality, 787.—Photons in three dimensions,

792.

13.3 Matter as a Wave . . . . . . . . . . . . . . . . 793

Electrons as waves, 794.—Dispersive waves, 798.—Bound states,

801.—The uncertainty principle and measurement, 803.—Electrons

in electric ﬁelds, 809.—The Schr¨odinger equation, 810.

13.4 The Atom. . . . . . . . . . . . . . . . . . . . 816

Classifying states, 816.—Angular momentum in three dimensions,

818.—The hydrogen atom, 819.—Energies of states in hydrogen,

822.—Electron spin, 828.—Atoms with more than one electron,

830.

Problems . . . . . . . . . . . . . . . . . . . . . . 833

Exercises . . . . . . . . . . . . . . . . . . . . . . 842

Appendix 1: Programming with Python 843

Appendix 2: Miscellany 846

Appendix 3: Photo Credits 854

Appendix 4: Hints and Solutions 856

Contents 11

Appendix 5: Useful Data 877

Notation and terminology, compared with other books, 877.—

Notation and units, 878.—Fundamental constants, 878.—Metric

preﬁxes, 879.—Nonmetric units, 879.—The Greek alphabet, 879.—

Subatomic particles, 879.—Earth, moon, and sun, 880.—The pe-

riodic table, 880.—Atomic masses, 880.

Appendix 6: Summary 881

12 Contents

The Mars Climate Orbiter is pre-

pared for its mission. The laws

of physics are the same every-

where, even on Mars, so the

probe could be designed based

on the laws of physics as discov-

ered on earth. There is unfor-

tunately another reason why this

spacecraft is relevant to the top-

ics of this chapter: it was de-

stroyed attempting to enter Mars’

atmosphere because engineers

at Lockheed Martin forgot to con-

vert data on engine thrusts from

pounds into the metric unit of

force (newtons) before giving the

information to NASA. Conver-

sions are important!

Chapter 0

Introduction and Review

0.1 Introduction and Review

If you drop your shoe and a coin side by side, they hit the ground at

the same time. Why doesn’t the shoe get there ﬁrst, since gravity is

pulling harder on it? How does the lens of your eye work, and why

do your eye’s muscles need to squash its lens into diﬀerent shapes in

order to focus on objects nearby or far away? These are the kinds

of questions that physics tries to answer about the behavior of light

and matter, the two things that the universe is made of.

0.1.1 The scientiﬁc method

Until very recently in history, no progress was made in answering

questions like these. Worse than that, the wrong answers written

by thinkers like the ancient Greek physicist Aristotle were accepted

without question for thousands of years. Why is it that scientiﬁc

knowledge has progressed more since the Renaissance than it had

in all the preceding millennia since the beginning of recorded his-

tory? Undoubtedly the industrial revolution is part of the answer.

13

b / A satirical drawing of an

alchemist’s laboratory. H. Cock,

after a drawing by Peter Brueghel

the Elder (16th century).

a / Science is a cycle of the-

ory and experiment.

Building its centerpiece, the steam engine, required improved tech-

niques for precise construction and measurement. (Early on, it was

considered a major advance when English machine shops learned to

build pistons and cylinders that ﬁt together with a gap narrower

than the thickness of a penny.) But even before the industrial rev-

olution, the pace of discovery had picked up, mainly because of the

introduction of the modern scientiﬁc method. Although it evolved

over time, most scientists today would agree on something like the

following list of the basic principles of the scientiﬁc method:

(1) Science is a cycle of theory and experiment. Scientiﬁc the-

ories are created to explain the results of experiments that were

created under certain conditions. A successful theory will also make

new predictions about new experiments under new conditions. Even-

tually, though, it always seems to happen that a new experiment

comes along, showing that under certain conditions the theory is

not a good approximation or is not valid at all. The ball is then

back in the theorists’ court. If an experiment disagrees with the

current theory, the theory has to be changed, not the experiment.

(2) Theories should both predict and explain. The requirement of

predictive power means that a theory is only meaningful if it predicts

something that can be checked against experimental measurements

that the theorist did not already have at hand. That is, a theory

should be testable. Explanatory value means that many phenomena

should be accounted for with few basic principles. If you answer

every “why” question with “because that’s the way it is,” then your

theory has no explanatory value. Collecting lots of data without

being able to ﬁnd any basic underlying principles is not science.

(3) Experiments should be reproducible. An experiment should

be treated with suspicion if it only works for one person, or only

in one part of the world. Anyone with the necessary skills and

equipment should be able to get the same results from the same

experiment. This implies that science transcends national and eth-

nic boundaries; you can be sure that nobody is doing actual science

who claims that their work is “Aryan, not Jewish,” “Marxist, not

bourgeois,” or “Christian, not atheistic.” An experiment cannot be

reproduced if it is secret, so science is necessarily a public enterprise.

As an example of the cycle of theory and experiment, a vital step

toward modern chemistry was the experimental observation that the

chemical elements could not be transformed into each other, e.g.,

lead could not be turned into gold. This led to the theory that

chemical reactions consisted of rearrangements of the elements in

diﬀerent combinations, without any change in the identities of the

elements themselves. The theory worked for hundreds of years, and

was conﬁrmed experimentally over a wide range of pressures and

temperatures and with many combinations of elements. Only in

14 Chapter 0 Introduction and Review

the twentieth century did we learn that one element could be trans-

formed into one another under the conditions of extremely high

pressure and temperature existing in a nuclear bomb or inside a star.

That observation didn’t completely invalidate the original theory of

the immutability of the elements, but it showed that it was only an

approximation, valid at ordinary temperatures and pressures.

self-check A

A psychic conducts seances in which the spirits of the dead speak to

the participants. He says he has special psychic powers not possessed

by other people, which allow him to “channel” the communications with

the spirits. What part of the scientiﬁc method is being violated here?

> Answer, p. 859

The scientiﬁc method as described here is an idealization, and

should not be understood as a set procedure for doing science. Sci-

entists have as many weaknesses and character ﬂaws as any other

group, and it is very common for scientists to try to discredit other

people’s experiments when the results run contrary to their own fa-

vored point of view. Successful science also has more to do with

luck, intuition, and creativity than most people realize, and the

restrictions of the scientiﬁc method do not stiﬂe individuality and

self-expression any more than the fugue and sonata forms stiﬂed

Bach and Haydn. There is a recent tendency among social scien-

tists to go even further and to deny that the scientiﬁc method even

exists, claiming that science is no more than an arbitrary social sys-

tem that determines what ideas to accept based on an in-group’s

criteria. I think that’s going too far. If science is an arbitrary social

ritual, it would seem diﬃcult to explain its eﬀectiveness in building

such useful items as airplanes, CD players, and sewers. If alchemy

and astrology were no less scientiﬁc in their methods than chem-

istry and astronomy, what was it that kept them from producing

anything useful?

Discussion Questions

Consider whether or not the scientiﬁc method is being applied in the fol-

lowing examples. If the scientiﬁc method is not being applied, are the

people whose actions are being described performing a useful human

activity, albeit an unscientiﬁc one?

A Acupuncture is a traditional medical technique of Asian origin in

which small needles are inserted in the patient’s body to relieve pain.

Many doctors trained in the west consider acupuncture unworthy of ex-

perimental study because if it had therapeutic effects, such effects could

not be explained by their theories of the nervous system. Who is being

more scientiﬁc, the western or eastern practitioners?

B Goethe, a German poet, is less well known for his theory of color.

He published a book on the subject, in which he argued that scientiﬁc

apparatus for measuring and quantifying color, such as prisms, lenses

and colored ﬁlters, could not give us full insight into the ultimate meaning

Section 0.1 Introduction and Review 15

of color, for instance the cold feeling evoked by blue and green or the

heroic sentiments inspired by red. Was his work scientiﬁc?

C A child asks why things fall down, and an adult answers “because of

gravity.” The ancient Greek philosopher Aristotle explained that rocks fell

because it was their nature to seek out their natural place, in contact with

the earth. Are these explanations scientiﬁc?

D Buddhism is partly a psychological explanation of human suffering,

and psychology is of course a science. The Buddha could be said to

have engaged in a cycle of theory and experiment, since he worked by

trial and error, and even late in his life he asked his followers to challenge

his ideas. Buddhism could also be considered reproducible, since the

Buddha told his followers they could ﬁnd enlightenment for themselves

if they followed a certain course of study and discipline. Is Buddhism a

scientiﬁc pursuit?

0.1.2 What is physics?

Given for one instant an intelligence which could comprehend all

the forces by which nature is animated and the respective positions

of the things which compose it...nothing would be uncertain, and

the future as the past would be laid out before its eyes.

Pierre Simon de Laplace

Physics is the use of the scientiﬁc method to ﬁnd out the basic

principles governing light and matter, and to discover the implica-

tions of those laws. Part of what distinguishes the modern outlook

from the ancient mind-set is the assumption that there are rules by

which the universe functions, and that those laws can be at least par-

tially understood by humans. From the Age of Reason through the

nineteenth century, many scientists began to be convinced that the

laws of nature not only could be known but, as claimed by Laplace,

those laws could in principle be used to predict everything about

the universe’s future if complete information was available about

the present state of all light and matter. In subsequent sections,

I’ll describe two general types of limitations on prediction using the

laws of physics, which were only recognized in the twentieth century.

Matter can be deﬁned as anything that is aﬀected by gravity,

i.e., that has weight or would have weight if it was near the Earth

or another star or planet massive enough to produce measurable

gravity. Light can be deﬁned as anything that can travel from one

place to another through empty space and can inﬂuence matter, but

has no weight. For example, sunlight can inﬂuence your body by

heating it or by damaging your DNA and giving you skin cancer.

The physicist’s deﬁnition of light includes a variety of phenomena

that are not visible to the eye, including radio waves, microwaves,

x-rays, and gamma rays. These are the “colors” of light that do not

happen to fall within the narrow violet-to-red range of the rainbow

that we can see.

self-check B

16 Chapter 0 Introduction and Review

c / This telescope picture shows

two images of the same distant

object, an exotic, very luminous

object called a quasar. This is

interpreted as evidence that a

massive, dark object, possibly

a black hole, happens to be

between us and it. Light rays that

would otherwise have missed the

earth on either side have been

bent by the dark object’s gravity

so that they reach us. The actual

direction to the quasar is presum-

ably in the center of the image,

but the light along that central line

doesn’t get to us because it is

absorbed by the dark object. The

quasar is known by its catalog

number, MG1131+0456, or more

informally as Einstein’s Ring.

At the turn of the 20th century, a strange new phenomenon was discov-

ered in vacuum tubes: mysterious rays of unknown origin and nature.

These rays are the same as the ones that shoot from the back of your

TV’s picture tube and hit the front to make the picture. Physicists in

1895 didn’t have the faintest idea what the rays were, so they simply

named them “cathode rays,” after the name for the electrical contact

from which they sprang. A ﬁerce debate raged, complete with national-

istic overtones, over whether the rays were a form of light or of matter.

What would they have had to do in order to settle the issue? >

Answer, p. 859

Many physical phenomena are not themselves light or matter,

but are properties of light or matter or interactions between light

and matter. For instance, motion is a property of all light and some

matter, but it is not itself light or matter. The pressure that keeps

a bicycle tire blown up is an interaction between the air and the

tire. Pressure is not a form of matter in and of itself. It is as

much a property of the tire as of the air. Analogously, sisterhood

and employment are relationships among people but are not people

themselves.

Some things that appear weightless actually do have weight, and

so qualify as matter. Air has weight, and is thus a form of matter

even though a cubic inch of air weighs less than a grain of sand. A

helium balloon has weight, but is kept from falling by the force of the

surrounding more dense air, which pushes up on it. Astronauts in

orbit around the Earth have weight, and are falling along a curved

arc, but they are moving so fast that the curved arc of their fall

is broad enough to carry them all the way around the Earth in a

circle. They perceive themselves as being weightless because their

space capsule is falling along with them, and the ﬂoor therefore does

not push up on their feet.

Optional Topic: Modern Changes in the Deﬁnition of Light and

Matter

Einstein predicted as a consequence of his theory of relativity that light

would after all be affected by gravity, although the effect would be ex-

tremely weak under normal conditions. His prediction was borne out

by observations of the bending of light rays from stars as they passed

close to the sun on their way to the Earth. Einstein’s theory also implied

the existence of black holes, stars so massive and compact that their

intense gravity would not even allow light to escape. (These days there

is strong evidence that black holes exist.)

Einstein’s interpretation was that light doesn’t really have mass, but

that energy is affected by gravity just like mass is. The energy in a light

beam is equivalent to a certain amount of mass, given by the famous

equation E = mc

2

, where c is the speed of light. Because the speed

of light is such a big number, a large amount of energy is equivalent to

only a very small amount of mass, so the gravitational force on a light

ray can be ignored for most practical purposes.

There is however a more satisfactory and fundamental distinction

Section 0.1 Introduction and Review 17

d / Reductionism.

between light and matter, which should be understandable to you if you

have had a chemistry course. In chemistry, one learns that electrons

obey the Pauli exclusion principle, which forbids more than one electron

from occupying the same orbital if they have the same spin. The Pauli

exclusion principle is obeyed by the subatomic particles of which matter

is composed, but disobeyed by the particles, called photons, of which a

beam of light is made.

Einstein’s theory of relativity is discussed more fully in book 6 of this

series.

The boundary between physics and the other sciences is not

always clear. For instance, chemists study atoms and molecules,

which are what matter is built from, and there are some scientists

who would be equally willing to call themselves physical chemists

or chemical physicists. It might seem that the distinction between

physics and biology would be clearer, since physics seems to deal

with inanimate objects. In fact, almost all physicists would agree

that the basic laws of physics that apply to molecules in a test tube

work equally well for the combination of molecules that constitutes

a bacterium. (Some might believe that something more happens in

the minds of humans, or even those of cats and dogs.) What diﬀer-

entiates physics from biology is that many of the scientiﬁc theories

that describe living things, while ultimately resulting from the fun-

damental laws of physics, cannot be rigorously derived from physical

principles.

Isolated systems and reductionism

To avoid having to study everything at once, scientists isolate the

things they are trying to study. For instance, a physicist who wants

to study the motion of a rotating gyroscope would probably prefer

that it be isolated from vibrations and air currents. Even in biology,

where ﬁeld work is indispensable for understanding how living things

relate to their entire environment, it is interesting to note the vital

historical role played by Darwin’s study of the Gal´apagos Islands,

which were conveniently isolated from the rest of the world. Any

part of the universe that is considered apart from the rest can be

called a “system.”

Physics has had some of its greatest successes by carrying this

process of isolation to extremes, subdividing the universe into smaller

and smaller parts. Matter can be divided into atoms, and the be-

havior of individual atoms can be studied. Atoms can be split apart

into their constituent neutrons, protons and electrons. Protons and

neutrons appear to be made out of even smaller particles called

quarks, and there have even been some claims of experimental ev-

idence that quarks have smaller parts inside them. This method

of splitting things into smaller and smaller parts and studying how

those parts inﬂuence each other is called reductionism. The hope is

that the seemingly complex rules governing the larger units can be

better understood in terms of simpler rules governing the smaller

18 Chapter 0 Introduction and Review

units. To appreciate what reductionism has done for science, it is

only necessary to examine a 19th-century chemistry textbook. At

that time, the existence of atoms was still doubted by some, elec-

trons were not even suspected to exist, and almost nothing was

understood of what basic rules governed the way atoms interacted

with each other in chemical reactions. Students had to memorize

long lists of chemicals and their reactions, and there was no way to

understand any of it systematically. Today, the student only needs

to remember a small set of rules about how atoms interact, for in-

stance that atoms of one element cannot be converted into another

via chemical reactions, or that atoms from the right side of the pe-

riodic table tend to form strong bonds with atoms from the left

side.

Discussion Questions

A I’ve suggested replacing the ordinary dictionary deﬁnition of light

with a more technical, more precise one that involves weightlessness. It’s

still possible, though, that the stuff a lightbulb makes, ordinarily called

“light,” does have some small amount of weight. Suggest an experiment

to attempt to measure whether it does.

B Heat is weightless (i.e., an object becomes no heavier when heated),

and can travel across an empty room from the ﬁreplace to your skin,

where it inﬂuences you by heating you. Should heat therefore be con-

sidered a form of light by our deﬁnition? Why or why not?

C Similarly, should sound be considered a form of light?

0.1.3 How to learn physics

For as knowledges are now delivered, there is a kind of contract of

error between the deliverer and the receiver; for he that delivereth

knowledge desireth to deliver it in such a form as may be best be-

lieved, and not as may be best examined; and he that receiveth

knowledge desireth rather present satisfaction than expectant in-

quiry.

Francis Bacon

Many students approach a science course with the idea that they

can succeed by memorizing the formulas, so that when a problem

is assigned on the homework or an exam, they will be able to plug

numbers in to the formula and get a numerical result on their cal-

culator. Wrong! That’s not what learning science is about! There

is a big diﬀerence between memorizing formulas and understanding

concepts. To start with, diﬀerent formulas may apply in diﬀerent

situations. One equation might represent a deﬁnition, which is al-

ways true. Another might be a very speciﬁc equation for the speed

of an object sliding down an inclined plane, which would not be true

if the object was a rock drifting down to the bottom of the ocean.

If you don’t work to understand physics on a conceptual level, you

won’t know which formulas can be used when.

Section 0.1 Introduction and Review 19

Most students taking college science courses for the ﬁrst time

also have very little experience with interpreting the meaning of an

equation. Consider the equation n = ¹´/ relating the width of a

rectangle to its height and area. A student who has not developed

skill at interpretation might view this as yet another equation to

memorize and plug in to when needed. A slightly more savvy stu-

dent might realize that it is simply the familiar formula ¹ = n/

in a diﬀerent form. When asked whether a rectangle would have

a greater or smaller width than another with the same area but

a smaller height, the unsophisticated student might be at a loss,

not having any numbers to plug in on a calculator. The more ex-

perienced student would know how to reason about an equation

involving division — if / is smaller, and ¹ stays the same, then n

must be bigger. Often, students fail to recognize a sequence of equa-

tions as a derivation leading to a ﬁnal result, so they think all the

intermediate steps are equally important formulas that they should

memorize.

When learning any subject at all, it is important to become as

actively involved as possible, rather than trying to read through

all the information quickly without thinking about it. It is a good

idea to read and think about the questions posed at the end of each

section of these notes as you encounter them, so that you know you

have understood what you were reading.

Many students’ diﬃculties in physics boil down mainly to diﬃ-

culties with math. Suppose you feel conﬁdent that you have enough

mathematical preparation to succeed in this course, but you are

having trouble with a few speciﬁc things. In some areas, the brief

review given in this chapter may be suﬃcient, but in other areas

it probably will not. Once you identify the areas of math in which

you are having problems, get help in those areas. Don’t limp along

through the whole course with a vague feeling of dread about some-

thing like scientiﬁc notation. The problem will not go away if you

ignore it. The same applies to essential mathematical skills that you

are learning in this course for the ﬁrst time, such as vector addition.

Sometimes students tell me they keep trying to understand a

certain topic in the book, and it just doesn’t make sense. The worst

thing you can possibly do in that situation is to keep on staring

at the same page. Every textbook explains certain things badly —

even mine! — so the best thing to do in this situation is to look

at a diﬀerent book. Instead of college textbooks aimed at the same

mathematical level as the course you’re taking, you may in some

cases ﬁnd that high school books or books at a lower math level

give clearer explanations.

Finally, when reviewing for an exam, don’t simply read back

over the text and your lecture notes. Instead, try to use an active

method of reviewing, for instance by discussing some of the discus-

20 Chapter 0 Introduction and Review

sion questions with another student, or doing homework problems

you hadn’t done the ﬁrst time.

0.1.4 Velocity and acceleration

Calculus was invented by a physicist, Isaac Newton, because

he needed it as a tool for calculating velocity and acceleration; in

your introductory calculus course, velocity and acceleration were

probably presented as some of the ﬁrst applications.

If an object’s position as a function of time is given by the func-

tion r(t), then its velocity and acceleration are given by the ﬁrst

and second derivatives with respect to time,

· =

dr

dt

and

o =

d

2

r

dt

2

.

The notation relates in a logical way to the units of the quantities.

Velocity has units of m/s, and that makes sense because dr is inter-

preted as an inﬁnitesimally small distance, with units of meters, and

dt as an inﬁnitesimally small time, with units of seconds. The seem-

ingly weird and inconsistent placement of the superscripted twos in

the notation for the acceleration is likewise meant to suggest the

units: something on top with units of meters, and something on the

bottom with units of seconds squared.

Velocity and acceleration have completely diﬀerent physical in-

terpretations. Velocity is a matter of opinion. Right now as you sit

in a chair and read this book, you could say that your velocity was

zero, but an observer watching the Earth rotate would say that you

had a velocity of hundreds of miles an hour. Acceleration represents

a change in velocity, and it’s not a matter of opinion. Accelerations

produce physical eﬀects, and don’t occur unless there’s a force to

cause them. For example, gravitational forces on Earth cause falling

objects to have an acceleration of 9.8 m´s

2

.

Constant acceleration example 1

> How high does a diving board have to be above the water if the

diver is to have as much as 1.0 s in the air?

> The diver starts at rest, and has an acceleration of 9.8 m´s

2

.

We need to ﬁnd a connection between the distance she travels

and time it takes. In other words, we’re looking for information

about the function x(t ), given information about the acceleration.

Section 0.1 Introduction and Review 21

To go from acceleration to position, we need to integrate twice:

x =

a dt dt

=

(at + v

o

) dt [v

o

is a constant of integration.]

=

at dt [v

o

is zero because she’s dropping from rest.]

=

1

2

at

2

+ x

o

[x

o

is a constant of integration.]

=

1

2

at

2

[x

o

can be zero if we deﬁne it that way.]

Note some of the good problem-solving habits demonstrated here.

We solve the problem symbolically, and only plug in numbers at

the very end, once all the algebra and calculus are done. One

should also make a habit, after ﬁnding a symbolic result, of check-

ing whether the dependence on the variables make sense. A

greater value of t in this expression would lead to a greater value

for x; that makes sense, because if you want more time in the

air, you’re going to have to jump from higher up. A greater ac-

celeration also leads to a greater height; this also makes sense,

because the stronger gravity is, the more height you’ll need in or-

der to stay in the air for a given amount of time. Now we plug in

numbers.

x =

1

2

9.8 m´s

2

(1.0 s)

2

= 4.9 m

Note that when we put in the numbers, we check that the units

work out correctly,

m´s

2

(s)

2

= m. We should also check that

the result makes sense: 4.9 meters is pretty high, but not unrea-

sonable.

The notation dc in calculus represents an inﬁnitesimally small

change in the variable c. The corresponding notation for a ﬁnite

change in a variable is ∆c. For example, if c represents the value

of a certain stock on the stock market, and the value falls from

c

o

= 5 dollars initially to c

f

= 3 dollars ﬁnally, then ∆c = −2

dollars. When we study linear functions, whose slopes are constant,

the derivative is synonymous with the slope of the line, and dn´dr

is the same thing as ∆n´∆r, the rise over the run.

Under conditions of constant acceleration, we can relate velocity

and time,

o =

∆·

∆t

,

or, as in the example 1, position and time,

r =

1

2

ot

2

+ ·

o

t + r

o

.

22 Chapter 0 Introduction and Review

It can also be handy to have a relation involving velocity and posi-

tion, eliminating time. Straightforward algebra gives

·

2

f

= ·

2

o

+ 2o∆r ,

where ·

f

is the ﬁnal velocity, ·

o

the initial velocity, and ∆r the

distance traveled.

> Solved problem: Dropping a rock on Mars page 47, problem 17

> Solved problem: The Dodge Viper page 47, problem 19

0.1.5 Self-evaluation

The introductory part of a book like this is hard to write, because

every student arrives at this starting point with a diﬀerent prepara-

tion. One student may have grown up outside the U.S. and so may

be completely comfortable with the metric system, but may have

had an algebra course in which the instructor passed too quickly

over scientiﬁc notation. Another student may have already taken

vector calculus, but may have never learned the metric system. The

following self-evaluation is a checklist to help you ﬁgure out what

you need to study to be prepared for the rest of the course.

If you disagree with this state-

ment. . .

you should study this section:

I am familiar with the basic metric

units of meters, kilograms, and sec-

onds, and the most common metric

preﬁxes: milli- (m), kilo- (k), and

centi- (c).

subsection 0.1.6 Basic of the Metric

System

I am familiar with these less com-

mon metric preﬁxes: mega- (M),

micro- (j), and nano- (n).

subsection 0.1.7 Less Common Met-

ric Preﬁxes

I am comfortable with scientiﬁc no-

tation.

subsection 0.1.8 Scientiﬁc Notation

I can conﬁdently do metric conver-

sions.

subsection 0.1.9 Conversions

I understand the purpose and use of

signiﬁcant ﬁgures.

subsection 0.1.10 Signiﬁcant Figures

It wouldn’t hurt you to skim the sections you think you already

know about, and to do the self-checks in those sections.

Section 0.1 Introduction and Review 23

0.1.6 Basics of the metric system

The metric system

Units were not standardized until fairly recently in history, so

when the physicist Isaac Newton gave the result of an experiment

with a pendulum, he had to specify not just that the string was 37

7

´

8

inches long but that it was “37

7

´

8

London inches long.” The

inch as deﬁned in Yorkshire would have been diﬀerent. Even after

the British Empire standardized its units, it was still very inconve-

nient to do calculations involving money, volume, distance, time, or

weight, because of all the odd conversion factors, like 16 ounces in

a pound, and 5280 feet in a mile. Through the nineteenth century,

schoolchildren squandered most of their mathematical education in

preparing to do calculations such as making change when a customer

in a shop oﬀered a one-crown note for a book costing two pounds,

thirteen shillings and tuppence. The dollar has always been decimal,

and British money went decimal decades ago, but the United States

is still saddled with the antiquated system of feet, inches, pounds,

ounces and so on.

Every country in the world besides the U.S. has adopted a sys-

tem of units known in English as the “metric system.” This system

is entirely decimal, thanks to the same eminently logical people who

brought about the French Revolution. In deference to France, the

system’s oﬃcial name is the Syst`eme International, or SI, meaning

International System. (The phrase “SI system” is therefore redun-

dant.)

The wonderful thing about the SI is that people who live in

countries more modern than ours do not need to memorize how

many ounces there are in a pound, how many cups in a pint, how

many feet in a mile, etc. The whole system works with a single,

consistent set of preﬁxes (derived from Greek) that modify the basic

units. Each preﬁx stands for a power of ten, and has an abbreviation

that can be combined with the symbol for the unit. For instance,

the meter is a unit of distance. The preﬁx kilo- stands for 10

3

, so a

kilometer, 1 km, is a thousand meters.

The basic units of the metric system are the meter for distance,

the second for time, and the gram for mass.

The following are the most common metric preﬁxes. You should

memorize them.

preﬁx meaning example

kilo- k 10

3

60 kg = a person’s mass

centi- c 10

−2

28 cm = height of a piece of paper

milli- m 10

−3

1 ms = time for one vibration of a guitar

string playing the note D

The preﬁx centi-, meaning 10

−2

, is only used in the centimeter;

a hundredth of a gram would not be written as 1 cg but as 10 mg.

24 Chapter 0 Introduction and Review

e / Pope Gregory created our

modern Gregorian calendar, with

its system of leap years, to make

the length of the calendar year

match the length of the cycle

of seasons. Not until 1752 did

Protestant England switched to

the new calendar. Some less

educated citizens believed that

the shortening of the month by

eleven days would shorten their

lives by the same interval. In this

illustration by William Hogarth,

the leaﬂet lying on the ground

reads, “Give us our eleven days.”

The centi- preﬁx can be easily remembered because a cent is 10

−2

dollars. The oﬃcial SI abbreviation for seconds is “s” (not “sec”)

and grams are “g” (not “gm”).

The second

The sun stood still and the moon halted until the nation had taken

vengeance on its enemies. . .

Joshua 10:12-14

Absolute, true, and mathematical time, of itself, and from its own

nature, ﬂows equably without relation to anything external. . .

Isaac Newton

When I stated brieﬂy above that the second was a unit of time,

it may not have occurred to you that this was not really much of

a deﬁnition. The two quotes above are meant to demonstrate how

much room for confusion exists among people who seem to mean the

same thing by a word such as “time.” The ﬁrst quote has been inter-

preted by some biblical scholars as indicating an ancient belief that

the motion of the sun across the sky was not just something that

occurred with the passage of time but that the sun actually caused

time to pass by its motion, so that freezing it in the sky would have

some kind of a supernatural decelerating eﬀect on everyone except

the Hebrew soldiers. Many ancient cultures also conceived of time

as cyclical, rather than proceeding along a straight line as in 1998,

1999, 2000, 2001,... The second quote, from a relatively modern

physicist, may sound a lot more scientiﬁc, but most physicists to-

day would consider it useless as a deﬁnition of time. Today, the

physical sciences are based on operational deﬁnitions, which means

deﬁnitions that spell out the actual steps (operations) required to

measure something numerically.

Now in an era when our toasters, pens, and coﬀee pots tell us the

time, it is far from obvious to most people what is the fundamental

operational deﬁnition of time. Until recently, the hour, minute, and

second were deﬁned operationally in terms of the time required for

the earth to rotate about its axis. Unfortunately, the Earth’s ro-

tation is slowing down slightly, and by 1967 this was becoming an

issue in scientiﬁc experiments requiring precise time measurements.

The second was therefore redeﬁned as the time required for a cer-

tain number of vibrations of the light waves emitted by a cesium

atoms in a lamp constructed like a familiar neon sign but with the

neon replaced by cesium. The new deﬁnition not only promises to

stay constant indeﬁnitely, but for scientists is a more convenient

way of calibrating a clock than having to carry out astronomical

measurements.

self-check C

What is a possible operational deﬁnition of how strong a person is? >

Answer, p. 859

Section 0.1 Introduction and Review 25

f / The original deﬁnition of

the meter.

The meter

The French originally deﬁned the meter as 10

−7

times the dis-

tance from the equator to the north pole, as measured through Paris

(of course). Even if the deﬁnition was operational, the operation of

traveling to the north pole and laying a surveying chain behind you

was not one that most working scientists wanted to carry out. Fairly

soon, a standard was created in the form of a metal bar with two

scratches on it. This deﬁnition persisted until 1960, when the meter

was redeﬁned as the distance traveled by light in a vacuum over a

period of (1/299792458) seconds.

The kilogram

The third base unit of the SI is the kilogram, a unit of mass.

Mass is intended to be a measure of the amount of a substance,

but that is not an operational deﬁnition. Bathroom scales work by

measuring our planet’s gravitational attraction for the object being

weighed, but using that type of scale to deﬁne mass operationally

would be undesirable because gravity varies in strength from place

to place on the earth.

There’s a surprising amount of disagreement among physics text-

books about how mass should be deﬁned, but here’s how it’s actually

handled by the few working physicists who specialize in ultra-high-

precision measurements. They maintain a physical object in Paris,

which is the standard kilogram, a cylinder made of platinum-iridium

alloy. Duplicates are checked against this mother of all kilograms

by putting the original and the copy on the two opposite pans of a

balance. Although this method of comparison depends on gravity,

the problems associated with diﬀerences in gravity in diﬀerent geo-

graphical locations are bypassed, because the two objects are being

compared in the same place. The duplicates can then be removed

from the Parisian kilogram shrine and transported elsewhere in the

world.

Combinations of metric units

Just about anything you want to measure can be measured with

some combination of meters, kilograms, and seconds. Speed can be

measured in m/s, volume in m

3

, and density in kg´m

3

. Part of what

makes the SI great is this basic simplicity. No more funny units like

a cord of wood, a bolt of cloth, or a jigger of whiskey. No more

liquid and dry measure. Just a simple, consistent set of units. The

SI measures put together from meters, kilograms, and seconds make

up the mks system. For example, the mks unit of speed is m/s, not

km/hr.

Discussion Question

A Isaac Newton wrote, “. . . the natural days are truly unequal, though

they are commonly considered as equal, and used for a measure of

time. . . It may be that there is no such thing as an equable motion, whereby

26 Chapter 0 Introduction and Review

time may be accurately measured. All motions may be accelerated or re-

tarded. . . ” Newton was right. Even the modern deﬁnition of the second

in terms of light emitted by cesium atoms is subject to variation. For in-

stance, magnetic ﬁelds could cause the cesium atoms to emit light with

a slightly different rate of vibration. What makes us think, though, that a

pendulum clock is more accurate than a sundial, or that a cesium atom

is a more accurate timekeeper than a pendulum clock? That is, how can

one test experimentally how the accuracies of different time standards

compare?

0.1.7 Less common metric preﬁxes

The following are three metric preﬁxes which, while less common

than the ones discussed previously, are well worth memorizing.

preﬁx meaning example

mega- M 10

6

6.4 Mm = radius of the earth

micro- j 10

−6

10 jm = size of a white blood cell

nano- n 10

−9

0.154 nm = distance between carbon

nuclei in an ethane molecule

Note that the abbreviation for micro is the Greek letter mu, j

— a common mistake is to confuse it with m (milli) or M (mega).

There are other preﬁxes even less common, used for extremely

large and small quantities. For instance, 1 femtometer = 10

−15

m is

a convenient unit of distance in nuclear physics, and 1 gigabyte =

10

9

bytes is used for computers’ hard disks. The international com-

mittee that makes decisions about the SI has recently even added

some new preﬁxes that sound like jokes, e.g., 1 yoctogram = 10

−24

g

is about half the mass of a proton. In the immediate future, how-

ever, you’re unlikely to see preﬁxes like “yocto-” and “zepto-” used

except perhaps in trivia contests at science-ﬁction conventions or

other geekfests.

self-check D

Suppose you could slowdown time so that according to your perception,

a beam of light would move across a room at the speed of a slow walk.

If you perceived a nanosecond as if it was a second, how would you

perceive a microsecond? > Answer, p. 859

0.1.8 Scientiﬁc notation

Most of the interesting phenomena in our universe are not on

the human scale. It would take about 1,000,000,000,000,000,000,000

bacteria to equal the mass of a human body. When the physicist

Thomas Young discovered that light was a wave, it was back in the

bad old days before scientiﬁc notation, and he was obliged to write

that the time required for one vibration of the wave was 1/500 of

a millionth of a millionth of a second. Scientiﬁc notation is a less

awkward way to write very large and very small numbers such as

these. Here’s a quick review.

Scientiﬁc notation means writing a number in terms of a product

Section 0.1 Introduction and Review 27

of something from 1 to 10 and something else that is a power of ten.

For instance,

32 = 3.2 10

1

320 = 3.2 10

2

3200 = 3.2 10

3

. . .

Each number is ten times bigger than the previous one.

Since 10

1

is ten times smaller than 10

2

, it makes sense to use

the notation 10

0

to stand for one, the number that is in turn ten

times smaller than 10

1

. Continuing on, we can write 10

−1

to stand

for 0.1, the number ten times smaller than 10

0

. Negative exponents

are used for small numbers:

3.2 = 3.2 10

0

0.32 = 3.2 10

−1

0.032 = 3.2 10

−2

. . .

A common source of confusion is the notation used on the dis-

plays of many calculators. Examples:

3.2 10

6

(written notation)

3.2E+6 (notation on some calculators)

3.2

6

(notation on some other calculators)

The last example is particularly unfortunate, because 3.2

6

really

stands for the number 3.2 3.2 3.2 3.2 3.2 3.2 = 1074, a

totally diﬀerent number from 3.2 10

6

= 3200000. The calculator

notation should never be used in writing. It’s just a way for the

manufacturer to save money by making a simpler display.

self-check E

A student learns that 10

4

bacteria, standing in line to register for classes

at Paramecium Community College, would form a queue of this size:

The student concludes that 10

2

bacteria would form a line of this length:

Why is the student incorrect? > Answer, p. 859

0.1.9 Conversions

I suggest you avoid memorizing lots of conversion factors be-

tween SI units and U.S. units, but two that do come in handy are:

1 inch = 2.54 cm

28 Chapter 0 Introduction and Review

An object with a weight on Earth of 2.2 pounds-force has a

mass of 1 kg.

The ﬁrst one is the present deﬁnition of the inch, so it’s exact. The

second one is not exact, but is good enough for most purposes. (U.S.

units of force and mass are confusing, so it’s a good thing they’re

not used in science. In U.S. units, the unit of force is the pound-

force, and the best unit to use for mass is the slug, which is about

14.6 kg.)

More important than memorizing conversion factors is under-

standing the right method for doing conversions. Even within the

SI, you may need to convert, say, from grams to kilograms. Diﬀer-

ent people have diﬀerent ways of thinking about conversions, but

the method I’ll describe here is systematic and easy to understand.

The idea is that if 1 kg and 1000 g represent the same mass, then

we can consider a fraction like

10

3

g

1 kg

to be a way of expressing the number one. This may bother you. For

instance, if you type 1000/1 into your calculator, you will get 1000,

not one. Again, diﬀerent people have diﬀerent ways of thinking

about it, but the justiﬁcation is that it helps us to do conversions,

and it works! Now if we want to convert 0.7 kg to units of grams,

we can multiply kg by the number one:

0.7 kg

10

3

g

1 kg

If you’re willing to treat symbols such as “kg” as if they were vari-

ables as used in algebra (which they’re really not), you can then

cancel the kg on top with the kg on the bottom, resulting in

0.7

kg

10

3

g

1

kg

= 700 g .

To convert grams to kilograms, you would simply ﬂip the fraction

upside down.

One advantage of this method is that it can easily be applied to

a series of conversions. For instance, to convert one year to units of

seconds,

1

$

$$

year

365

¨

¨

¨

days

1

$

$$

year

24 $

$

$

hours

1

¨

¨

day

60

¨

¨¨

min

1 $

$$

hour

60 s

1

¨

¨¨

min

=

= 3.15 10

7

s .

Section 0.1 Introduction and Review 29

Should that exponent be positive, or negative?

A common mistake is to write the conversion fraction incorrectly.

For instance the fraction

10

3

kg

1 g

(incorrect)

does not equal one, because 10

3

kg is the mass of a car, and 1 g is

the mass of a raisin. One correct way of setting up the conversion

factor would be

10

−3

kg

1 g

(correct) .

You can usually detect such a mistake if you take the time to check

your answer and see if it is reasonable.

If common sense doesn’t rule out either a positive or a negative

exponent, here’s another way to make sure you get it right. There

are big preﬁxes and small preﬁxes:

big preﬁxes: k M

small preﬁxes: m j n

(It’s not hard to keep straight which are which, since “mega” and

“micro” are evocative, and it’s easy to remember that a kilometer

is bigger than a meter and a millimeter is smaller.) In the example

above, we want the top of the fraction to be the same as the bottom.

Since / is a big preﬁx, we need to compensate by putting a small

number like 10

−3

in front of it, not a big number like 10

3

.

> Solved problem: a simple conversion page 45, problem 6

> Solved problem: the geometric mean page 45, problem 8

Discussion Question

A Each of the following conversions contains an error. In each case,

explain what the error is.

(a) 1000 kg

1 kg

1000 g

= 1 g

(b) 50 m

1 cm

100 m

= 0.5 cm

(c) “Nano” is 10

−9

, so there are 10

−9

nm in a meter.

(d) “Micro” is 10

−6

, so 1 kg is 10

6

µg.

0.1.10 Signiﬁcant ﬁgures

An engineer is designing a car engine, and has been told that the

diameter of the pistons (which are being designed by someone else)

is 5 cm. He knows that 0.02 cm of clearance is required for a piston

of this size, so he designs the cylinder to have an inside diameter of

5.04 cm. Luckily, his supervisor catches his mistake before the car

goes into production. She explains his error to him, and mentally

puts him in the “do not promote” category.

What was his mistake? The person who told him the pistons

30 Chapter 0 Introduction and Review

were 5 cm in diameter was wise to the ways of signiﬁcant ﬁgures,

as was his boss, who explained to him that he needed to go back

and get a more accurate number for the diameter of the pistons.

That person said “5 cm” rather than “5.00 cm” speciﬁcally to avoid

creating the impression that the number was extremely accurate. In

reality, the pistons’ diameter was 5.13 cm. They would never have

ﬁt in the 5.04-cm cylinders.

The number of digits of accuracy in a number is referred to as

the number of signiﬁcant ﬁgures, or “sig ﬁgs” for short. As in the

example above, sig ﬁgs provide a way of showing the accuracy of a

number. In most cases, the result of a calculation involving several

pieces of data can be no more accurate than the least accurate piece

of data. In other words, “garbage in, garbage out.” Since the 5

cm diameter of the pistons was not very accurate, the result of the

engineer’s calculation, 5.04 cm, was really not as accurate as he

thought. In general, your result should not have more than the

number of sig ﬁgs in the least accurate piece of data you started

with. The calculation above should have been done as follows:

5 cm (1 sig ﬁg)

+0.04 cm (1 sig ﬁg)

=5 cm (rounded oﬀ to 1 sig ﬁg)

The fact that the ﬁnal result only has one signiﬁcant ﬁgure then

alerts you to the fact that the result is not very accurate, and would

not be appropriate for use in designing the engine.

Note that the leading zeroes in the number 0.04 do not count

as signiﬁcant ﬁgures, because they are only placeholders. On the

other hand, a number such as 50 cm is ambiguous — the zero could

be intended as a signiﬁcant ﬁgure, or it might just be there as a

placeholder. The ambiguity involving trailing zeroes can be avoided

by using scientiﬁc notation, in which 5 10

1

cm would imply one

sig ﬁg of accuracy, while 5.0 10

1

cm would imply two sig ﬁgs.

self-check F

The following quote is taken from an editorial by Norimitsu Onishi in the

New York Times, August 18, 2002.

Consider Nigeria. Everyone agrees it is Africa’s most populous

nation. But what is its population? The United Nations says

114 million; the State Department, 120 million. The World Bank

says 126.9 million, while the Central Intelligence Agency puts it

at 126,635,626.

What should bother you about this? > Answer, p. 859

Dealing correctly with signiﬁcant ﬁgures can save you time! Of-

ten, students copy down numbers from their calculators with eight

signiﬁcant ﬁgures of precision, then type them back in for a later

Section 0.1 Introduction and Review 31

calculation. That’s a waste of time, unless your original data had

that kind of incredible precision.

The rules about signiﬁcant ﬁgures are only rules of thumb, and

are not a substitute for careful thinking. For instance, $20.00 +

$0.05 is $20.05. It need not and should not be rounded oﬀ to $20.

In general, the sig ﬁg rules work best for multiplication and division,

and we also apply them when doing a complicated calculation that

involves many types of operations. For simple addition and subtrac-

tion, it makes more sense to maintain a ﬁxed number of digits after

the decimal point.

When in doubt, don’t use the sig ﬁg rules at all. Instead, in-

tentionally change one piece of your initial data by the maximum

amount by which you think it could have been oﬀ, and recalculate

the ﬁnal result. The digits on the end that are completely reshuﬄed

are the ones that are meaningless, and should be omitted.

self-check G

How many signiﬁcant ﬁgures are there in each of the following mea-

surements?

(1) 9.937 m

(2) 4.0 s

(3) 0.0000000000000037 kg > Answer, p. 859

32 Chapter 0 Introduction and Review

a / Amoebas this size are

seldom encountered.

0.2 Scaling and Order-of-Magnitude Estimates

0.2.1 Introduction

Why can’t an insect be the size of a dog? Some skinny stretched-

out cells in your spinal cord are a meter tall — why does nature

display no single cells that are not just a meter tall, but a meter

wide, and a meter thick as well? Believe it or not, these are questions

that can be answered fairly easily without knowing much more about

physics than you already do. The only mathematical technique you

really need is the humble conversion, applied to area and volume.

Area and volume

Area can be deﬁned by saying that we can copy the shape of

interest onto graph paper with 1 cm 1 cm squares and count the

number of squares inside. Fractions of squares can be estimated by

eye. We then say the area equals the number of squares, in units of

square cm. Although this might seem less “pure” than computing

areas using formulae like ¹ = π:

2

for a circle or ¹ = n/´2 for a

triangle, those formulae are not useful as deﬁnitions of area because

they cannot be applied to irregularly shaped areas.

Units of square cm are more commonly written as cm

2

in science.

Of course, the unit of measurement symbolized by “cm” is not an

algebra symbol standing for a number that can be literally multiplied

by itself. But it is advantageous to write the units of area that way

and treat the units as if they were algebra symbols. For instance,

if you have a rectangle with an area of 6m

2

and a width of 2 m,

then calculating its length as (6 m

2

)´(2 m) = 3 m gives a result

that makes sense both numerically and in terms of units. This

algebra-style treatment of the units also ensures that our methods

of converting units work out correctly. For instance, if we accept

the fraction

100 cm

1 m

as a valid way of writing the number one, then one times one equals

one, so we should also say that one can be represented by

100 cm

1 m

100 cm

1 m

,

which is the same as

10000 cm

2

1 m

2

.

That means the conversion factor from square meters to square cen-

timeters is a factor of 10

4

, i.e., a square meter has 10

4

square cen-

timeters in it.

All of the above can be easily applied to volume as well, using

one-cubic-centimeter blocks instead of squares on graph paper.

To many people, it seems hard to believe that a square meter

equals 10000 square centimeters, or that a cubic meter equals a

Section 0.2 Scaling and Order-of-Magnitude Estimates 33

million cubic centimeters — they think it would make more sense if

there were 100 cm

2

in 1 m

2

, and 100 cm

3

in 1 m

3

, but that would be

incorrect. The examples shown in ﬁgure b aim to make the correct

answer more believable, using the traditional U.S. units of feet and

yards. (One foot is 12 inches, and one yard is three feet.)

b / Visualizing conversions of

area and volume using traditional

U.S. units.

self-check H

Based on ﬁgure b, convince yourself that there are 9 ft

2

in a square yard,

and 27 ft

3

in a cubic yard, then demonstrate the same thing symbolically

(i.e., with the method using fractions that equal one). > Answer, p.

859

> Solved problem: converting mm

2

to cm

2

page 49, problem 31

> Solved problem: scaling a liter page 50, problem 40

Discussion Question

A How many square centimeters are there in a square inch? (1 inch =

2.54 cm) First ﬁnd an approximate answer by making a drawing, then de-

rive the conversion factor more accurately using the symbolic method.

0.2.2 Scaling of area and volume

Great ﬂeas have lesser ﬂeas

Upon their backs to bite ’em.

And lesser ﬂeas have lesser still,

And so ad inﬁnitum.

Jonathan Swift

Now how do these conversions of area and volume relate to the

questions I posed about sizes of living things? Well, imagine that

you are shrunk like Alice in Wonderland to the size of an insect.

One way of thinking about the change of scale is that what used

to look like a centimeter now looks like perhaps a meter to you,

because you’re so much smaller. If area and volume scaled according

to most people’s intuitive, incorrect expectations, with 1 m

2

being

the same as 100 cm

2

, then there would be no particular reason

why nature should behave any diﬀerently on your new, reduced

scale. But nature does behave diﬀerently now that you’re small.

For instance, you will ﬁnd that you can walk on water, and jump

34 Chapter 0 Introduction and Review

d / The small boat holds up

just ﬁne.

e / A larger boat built with

the same proportions as the

small one will collapse under its

own weight.

f / A boat this large needs to

have timbers that are thicker

compared to its size.

c / Galileo Galilei (1564-1642).

to many times your own height. The physicist Galileo Galilei had

the basic insight that the scaling of area and volume determines

how natural phenomena behave diﬀerently on diﬀerent scales. He

ﬁrst reasoned about mechanical structures, but later extended his

insights to living things, taking the then-radical point of view that at

the fundamental level, a living organism should follow the same laws

of nature as a machine. We will follow his lead by ﬁrst discussing

machines and then living things.

Galileo on the behavior of nature on large and small scales

One of the world’s most famous pieces of scientiﬁc writing is

Galileo’s Dialogues Concerning the Two New Sciences. Galileo was

an entertaining writer who wanted to explain things clearly to laypeo-

ple, and he livened up his work by casting it in the form of a dialogue

among three people. Salviati is really Galileo’s alter ego. Simplicio

is the stupid character, and one of the reasons Galileo got in trouble

with the Church was that there were rumors that Simplicio repre-

sented the Pope. Sagredo is the earnest and intelligent student, with

whom the reader is supposed to identify. (The following excerpts

are from the 1914 translation by Crew and de Salvio.)

SAGREDO: Yes, that is what I mean; and I refer especially to

his last assertion which I have always regarded as false. . . ;

namely, that in speaking of these and other similar machines

one cannot argue from the small to the large, because many

devices which succeed on a small scale do not work on a

large scale. Now, since mechanics has its foundations in ge-

ometry, where mere size [ is unimportant], I do not see that

the properties of circles, triangles, cylinders, cones and other

solid ﬁgures will change with their size. If, therefore, a large

machine be constructed in such a way that its parts bear to

one another the same ratio as in a smaller one, and if the

smaller is sufﬁciently strong for the purpose for which it is

designed, I do not see why the larger should not be able to

withstand any severe and destructive tests to which it may be

subjected.

Salviati contradicts Sagredo:

SALVIATI: . . . Please observe, gentlemen, how facts which

at ﬁrst seem improbable will, even on scant explanation, drop

the cloak which has hidden themand stand forth in naked and

simple beauty. Who does not know that a horse falling from a

height of three or four cubits will break his bones, while a dog

falling from the same height or a cat from a height of eight

or ten cubits will suffer no injury? Equally harmless would be

the fall of a grasshopper from a tower or the fall of an ant from

the distance of the moon.

The point Galileo is making here is that small things are sturdier

in proportion to their size. There are a lot of objections that could be

Section 0.2 Scaling and Order-of-Magnitude Estimates 35

raised, however. After all, what does it really mean for something to

be “strong”, to be “strong in proportion to its size,” or to be strong

“out of proportion to its size?” Galileo hasn’t given operational

deﬁnitions of things like “strength,” i.e., deﬁnitions that spell out

how to measure them numerically.

Also, a cat is shaped diﬀerently from a horse — an enlarged

photograph of a cat would not be mistaken for a horse, even if the

photo-doctoring experts at the National Inquirer made it look like a

person was riding on its back. A grasshopper is not even a mammal,

and it has an exoskeleton instead of an internal skeleton. The whole

argument would be a lot more convincing if we could do some iso-

lation of variables, a scientiﬁc term that means to change only one

thing at a time, isolating it from the other variables that might have

an eﬀect. If size is the variable whose eﬀect we’re interested in see-

ing, then we don’t really want to compare things that are diﬀerent

in size but also diﬀerent in other ways.

SALVIATI: . . . we asked the reason why [shipbuilders] em-

ployed stocks, scaffolding, and bracing of larger dimensions

for launching a big vessel than they do for a small one; and

[an old man] answered that they did this in order to avoid the

danger of the ship parting under its own heavy weight, a dan-

ger to which small boats are not subject?

After this entertaining but not scientiﬁcally rigorous beginning,

Galileo starts to do something worthwhile by modern standards.

He simpliﬁes everything by considering the strength of a wooden

plank. The variables involved can then be narrowed down to the

type of wood, the width, the thickness, and the length. He also

gives an operational deﬁnition of what it means for the plank to

have a certain strength “in proportion to its size,” by introducing

the concept of a plank that is the longest one that would not snap

under its own weight if supported at one end. If you increased

its length by the slightest amount, without increasing its width or

thickness, it would break. He says that if one plank is the same

shape as another but a diﬀerent size, appearing like a reduced or

enlarged photograph of the other, then the planks would be strong

“in proportion to their sizes” if both were just barely able to support

their own weight.

Also, Galileo is doing something that would be frowned on in

modern science: he is mixing experiments whose results he has ac-

tually observed (building boats of diﬀerent sizes), with experiments

that he could not possibly have done (dropping an ant from the

height of the moon). He now relates how he has done actual ex-

periments with such planks, and found that, according to this op-

erational deﬁnition, they are not strong in proportion to their sizes.

The larger one breaks. He makes sure to tell the reader how impor-

36 Chapter 0 Introduction and Review

h / Galileo discusses planks

made of wood, but the concept

may be easier to imagine with

clay. All three clay rods in the

ﬁgure were originally the same

shape. The medium-sized one

was twice the height, twice the

length, and twice the width of

the small one, and similarly the

large one was twice as big as

the medium one in all its linear

dimensions. The big one has

four times the linear dimensions

of the small one, 16 times the

cross-sectional area when cut

perpendicular to the page, and

64 times the volume. That means

that the big one has 64 times the

weight to support, but only 16

times the strength compared to

the smallest one.

g / 1. This plank is as long as it can be without collapsing under

its own weight. If it was a hundredth of an inch longer, it would collapse.

2. This plank is made out of the same kind of wood. It is twice as thick,

twice as long, and twice as wide. It will collapse under its own weight.

tant the result is, via Sagredo’s astonished response:

SAGREDO: My brain already reels. My mind, like a cloud

momentarily illuminated by a lightning ﬂash, is for an instant

ﬁlled with an unusual light, which now beckons to me and

which now suddenly mingles and obscures strange, crude

ideas. From what you have said it appears to me impossible

to build two similar structures of the same material, but of

different sizes and have them proportionately strong.

In other words, this speciﬁc experiment, using things like wooden

planks that have no intrinsic scientiﬁc interest, has very wide impli-

cations because it points out a general principle, that nature acts

diﬀerently on diﬀerent scales.

To ﬁnish the discussion, Galileo gives an explanation. He says

that the strength of a plank (deﬁned as, say, the weight of the heav-

iest boulder you could put on the end without breaking it) is pro-

portional to its cross-sectional area, that is, the surface area of the

fresh wood that would be exposed if you sawed through it in the

middle. Its weight, however, is proportional to its volume.

1

How do the volume and cross-sectional area of the longer plank

compare with those of the shorter plank? We have already seen,

while discussing conversions of the units of area and volume, that

these quantities don’t act the way most people naively expect. You

might think that the volume and area of the longer plank would both

be doubled compared to the shorter plank, so they would increase

in proportion to each other, and the longer plank would be equally

able to support its weight. You would be wrong, but Galileo knows

that this is a common misconception, so he has Salviati address the

point speciﬁcally:

1

Galileo makes a slightly more complicated argument, taking into account

the eﬀect of leverage (torque). The result I’m referring to comes out the same

regardless of this eﬀect.

Section 0.2 Scaling and Order-of-Magnitude Estimates 37

i / The area of a shape is

proportional to the square of its

linear dimensions, even if the

shape is irregular.

SALVIATI: . . . Take, for example, a cube two inches on a

side so that each face has an area of four square inches

and the total area, i.e., the sum of the six faces, amounts

to twenty-four square inches; now imagine this cube to be

sawed through three times [with cuts in three perpendicular

planes] so as to divide it into eight smaller cubes, each one

inch on the side, each face one inch square, and the total

surface of each cube six square inches instead of twenty-

four in the case of the larger cube. It is evident therefore,

that the surface of the little cube is only one-fourth that of

the larger, namely, the ratio of six to twenty-four; but the vol-

ume of the solid cube itself is only one-eighth; the volume,

and hence also the weight, diminishes therefore much more

rapidly than the surface. . . You see, therefore, Simplicio, that

I was not mistaken when . . . I said that the surface of a small

solid is comparatively greater than that of a large one.

The same reasoning applies to the planks. Even though they

are not cubes, the large one could be sawed into eight small ones,

each with half the length, half the thickness, and half the width.

The small plank, therefore, has more surface area in proportion to

its weight, and is therefore able to support its own weight while the

large one breaks.

Scaling of area and volume for irregularly shaped objects

You probably are not going to believe Galileo’s claim that this

has deep implications for all of nature unless you can be convinced

that the same is true for any shape. Every drawing you’ve seen so

far has been of squares, rectangles, and rectangular solids. Clearly

the reasoning about sawing things up into smaller pieces would not

prove anything about, say, an egg, which cannot be cut up into eight

smaller egg-shaped objects with half the length.

Is it always true that something half the size has one quarter

the surface area and one eighth the volume, even if it has an irreg-

ular shape? Take the example of a child’s violin. Violins are made

for small children in smaller size to accomodate their small bodies.

Figure i shows a full-size violin, along with two violins made with

half and 3/4 of the normal length.

2

Let’s study the surface area of

the front panels of the three violins.

Consider the square in the interior of the panel of the full-size

violin. In the 3/4-size violin, its height and width are both smaller

by a factor of 3/4, so the area of the corresponding, smaller square

becomes 3´43´4 = 9´16 of the original area, not 3/4 of the original

area. Similarly, the corresponding square on the smallest violin has

half the height and half the width of the original one, so its area is

2

The customary terms “half-size” and “3/4-size” actually don’t describe the

sizes in any accurate way. They’re really just standard, arbitrary marketing

labels.

38 Chapter 0 Introduction and Review

j / The mufﬁn comes out of

the oven too hot to eat. Breaking

it up into four pieces increases

its surface area while keeping

the total volume the same. It

cools faster because of the

greater surface-to-volume ratio.

In general, smaller things have

greater surface-to-volume ratios,

but in this example there is no

easy way to compute the effect

exactly, because the small pieces

aren’t the same shape as the

original mufﬁn.

1/4 the original area, not half.

The same reasoning works for parts of the panel near the edge,

such as the part that only partially ﬁlls in the other square. The

entire square scales down the same as a square in the interior, and

in each violin the same fraction (about 70%) of the square is full, so

the contribution of this part to the total area scales down just the

same.

Since any small square region or any small region covering part

of a square scales down like a square object, the entire surface area

of an irregularly shaped object changes in the same manner as the

surface area of a square: scaling it down by 3/4 reduces the area by

a factor of 9/16, and so on.

In general, we can see that any time there are two objects with

the same shape, but diﬀerent linear dimensions (i.e., one looks like a

reduced photo of the other), the ratio of their areas equals the ratio

of the squares of their linear dimensions:

¹

1

¹

2

=

1

1

1

2

2

.

Note that it doesn’t matter where we choose to measure the linear

size, 1, of an object. In the case of the violins, for instance, it could

have been measured vertically, horizontally, diagonally, or even from

the bottom of the left f-hole to the middle of the right f-hole. We

just have to measure it in a consistent way on each violin. Since all

the parts are assumed to shrink or expand in the same manner, the

ratio 1

1

´1

2

is independent of the choice of measurement.

It is also important to realize that it is completely unnecessary

to have a formula for the area of a violin. It is only possible to

derive simple formulas for the areas of certain shapes like circles,

rectangles, triangles and so on, but that is no impediment to the

type of reasoning we are using.

Sometimes it is inconvenient to write all the equations in terms

of ratios, especially when more than two objects are being compared.

A more compact way of rewriting the previous equation is

¹ ∝ 1

2

.

The symbol “∝” means “is proportional to.” Scientists and engi-

neers often speak about such relationships verbally using the phrases

“scales like” or “goes like,” for instance “area goes like length squared.”

All of the above reasoning works just as well in the case of vol-

ume. Volume goes like length cubed:

\ ∝ 1

3

.

If diﬀerent objects are made of the same material with the same

density, ρ = :´\ , then their masses, : = ρ\ , are proportional

Section 0.2 Scaling and Order-of-Magnitude Estimates 39

k / Example 2. The big trian-

gle has four times more area than

the little one.

l / A tricky way of solving ex-

ample 2, explained in solution #2.

to 1

3

, and so are their weights. (The symbol for density is ρ, the

lower-case Greek letter “rho.”)

An important point is that all of the above reasoning about

scaling only applies to objects that are the same shape. For instance,

a piece of paper is larger than a pencil, but has a much greater

surface-to-volume ratio.

One of the ﬁrst things I learned as a teacher was that students

were not very original about their mistakes. Every group of students

tends to come up with the same goofs as the previous class. The

following are some examples of correct and incorrect reasoning about

proportionality.

Scaling of the area of a triangle example 2

> In ﬁgure k, the larger triangle has sides twice as long. How

many times greater is its area?

Correct solution #1: Area scales in proportion to the square of the

linear dimensions, so the larger triangle has four times more area

(2

2

= 4).

Correct solution #2: You could cut the larger triangle into four of

the smaller size, as shown in ﬁg. (b), so its area is four times

greater. (This solution is correct, but it would not work for a shape

like a circle, which can’t be cut up into smaller circles.)

Correct solution #3: The area of a triangle is given by

A = bh´2, where b is the base and h is the height. The areas of

the triangles are

A

1

= b

1

h

1

´2

A

2

= b

2

h

2

´2

= (2b

1

)(2h

1

)´2

= 2b

1

h

1

A

2

´A

1

= (2b

1

h

1

)´(b

1

h

1

´2)

= 4

(Although this solution is correct, it is a lot more work than solution

#1, and it can only be used in this case because a triangle is a

simple geometric shape, and we happen to know a formula for its

area.)

Correct solution #4: The area of a triangle is A = bh´2. The

comparison of the areas will come out the same as long as the

ratios of the linear sizes of the triangles is as speciﬁed, so let’s

just say b

1

= 1.00 m and b

2

= 2.00 m. The heights are then also

h

1

= 1.00 m and h

2

= 2.00 m, giving areas A

1

= 0.50 m

2

and

A

2

= 2.00 m

2

, so A

2

´A

1

= 4.00.

(The solution is correct, but it wouldn’t work with a shape for

whose area we don’t have a formula. Also, the numerical cal-

40 Chapter 0 Introduction and Review

n / Example 4. The 48-point

“S” has 1.78 times more area

than the 36-point “S.”

m / Example 3. The big sphere

has 125 times more volume than

the little one.

culation might make the answer of 4.00 appear inexact, whereas

solution #1 makes it clear that it is exactly 4.)

Incorrect solution: The area of a triangle is A = bh´2, and if you

plug in b = 2.00 m and h = 2.00 m, you get A = 2.00 m

2

, so

the bigger triangle has 2.00 times more area. (This solution is

incorrect because no comparison has been made with the smaller

triangle.)

Scaling of the volume of a sphere example 3

> In ﬁgure m, the larger sphere has a radius that is ﬁve times

greater. How many times greater is its volume?

Correct solution #1: Volume scales like the third power of the

linear size, so the larger sphere has a volume that is 125 times

greater (5

3

= 125).

Correct solution #2: The volume of a sphere is V = (4´3)πr

3

, so

V

1

=

4

3

πr

3

1

V

2

=

4

3

πr

3

2

=

4

3

π(5r

1

)

3

=

500

3

πr

3

1

V

2

´V

1

=

500

3

πr

3

1

´

4

3

πr

3

1

= 125

Incorrect solution: The volume of a sphere is V = (4´3)πr

3

, so

V

1

=

4

3

πr

3

1

V

2

=

4

3

πr

3

2

=

4

3

π 5r

3

1

=

20

3

πr

3

1

V

2

´V

1

=

20

3

πr

3

1

´

4

3

πr

3

1

= 5

(The solution is incorrect because (5r

1

)

3

is not the same as 5r

3

1

.)

Scaling of a more complex shape example 4

> The ﬁrst letter “S” in ﬁgure n is in a 36-point font, the second in

48-point. How many times more ink is required to make the larger

“S”? (Points are a unit of length used in typography.)

Correct solution: The amount of ink depends on the area to be

covered with ink, and area is proportional to the square of the

Section 0.2 Scaling and Order-of-Magnitude Estimates 41

linear dimensions, so the amount of ink required for the second

“S” is greater by a factor of (48´36)

2

= 1.78.

Incorrect solution: The length of the curve of the second “S” is

longer by a factor of 48´36 = 1.33, so 1.33 times more ink is

required.

(The solution is wrong because it assumes incorrectly that the

width of the curve is the same in both cases. Actually both the

width and the length of the curve are greater by a factor of 48/36,

so the area is greater by a factor of (48´36)

2

= 1.78.)

> Solved problem: a telescope gathers light page 49, problem 32

> Solved problem: distance from an earthquake page 49, problem 33

Discussion Questions

A A toy ﬁre engine is 1/30 the size of the real one, but is constructed

from the same metal with the same proportions. How many times smaller

is its weight? How many times less red paint would be needed to paint

it?

B Galileo spends a lot of time in his dialog discussing what really

happens when things break. He discusses everything in terms of Aristo-

tle’s now-discredited explanation that things are hard to break, because

if something breaks, there has to be a gap between the two halves with

nothing in between, at least initially. Nature, according to Aristotle, “ab-

hors a vacuum,” i.e., nature doesn’t “like” empty space to exist. Of course,

air will rush into the gap immediately, but at the very moment of breaking,

Aristotle imagined a vacuum in the gap. Is Aristotle’s explanation of why

it is hard to break things an experimentally testable statement? If so, how

could it be tested experimentally?

0.2.3 Order-of-magnitude estimates

It is the mark of an instructed mind to rest satisﬁed with the degree

of precision that the nature of the subject permits and not to seek

an exactness where only an approximation of the truth is possible.

Aristotle

It is a common misconception that science must be exact. For

instance, in the Star Trek TV series, it would often happen that

Captain Kirk would ask Mr. Spock, “Spock, we’re in a pretty bad

situation. What do you think are our chances of getting out of

here?” The scientiﬁc Mr. Spock would answer with something like,

“Captain, I estimate the odds as 237.345 to one.” In reality, he

could not have estimated the odds with six signiﬁcant ﬁgures of

accuracy, but nevertheless one of the hallmarks of a person with a

good education in science is the ability to make estimates that are

likely to be at least somewhere in the right ballpark. In many such

situations, it is often only necessary to get an answer that is oﬀ by no

more than a factor of ten in either direction. Since things that diﬀer

by a factor of ten are said to diﬀer by one order of magnitude, such

42 Chapter 0 Introduction and Review

an estimate is called an order-of-magnitude estimate. The tilde,

∼, is used to indicate that things are only of the same order of

magnitude, but not exactly equal, as in

odds of survival ∼ 100 to one .

The tilde can also be used in front of an individual number to em-

phasize that the number is only of the right order of magnitude.

Although making order-of-magnitude estimates seems simple and

natural to experienced scientists, it’s a mode of reasoning that is

completely unfamiliar to most college students. Some of the typical

mental steps can be illustrated in the following example.

Cost of transporting tomatoes example 5

> Roughly what percentage of the price of a tomato comes from

the cost of transporting it in a truck?

> The following incorrect solution illustrates one of the main ways

you can go wrong in order-of-magnitude estimates.

Incorrect solution: Let’s say the trucker needs to make a $400

proﬁt on the trip. Taking into account her beneﬁts, the cost of gas,

and maintenance and payments on the truck, let’s say the total

cost is more like $2000. I’d guess about 5000 tomatoes would ﬁt

in the back of the truck, so the extra cost per tomato is 40 cents.

That means the cost of transporting one tomato is comparable to

the cost of the tomato itself. Transportation really adds a lot to the

cost of produce, I guess.

The problem is that the human brain is not very good at esti-

mating area or volume, so it turns out the estimate of 5000 tomatoes

ﬁtting in the truck is way oﬀ. That’s why people have a hard time

at those contests where you are supposed to estimate the number of

jellybeans in a big jar. Another example is that most people think

their families use about 10 gallons of water per day, but in reality

the average is about 300 gallons per day. When estimating area

or volume, you are much better oﬀ estimating linear dimensions,

and computing volume from the linear dimensions. Here’s a better

solution:

Better solution: As in the previous solution, say the cost of the

trip is $2000. The dimensions of the bin are probably 4 m 2 m

1 m, for a volume of 8 m

3

. Since the whole thing is just an order-

of-magnitude estimate, let’s round that oﬀ to the nearest power of

ten, 10 m

3

. The shape of a tomato is complicated, and I don’t know

any formula for the volume of a tomato shape, but since this is just

an estimate, let’s pretend that a tomato is a cube, 0.05 m 0.05 m

0.05 m, for a volume of 1.25 10

−4

m

3

. Since this is just a rough

estimate, let’s round that to 10

−4

m

3

. We can ﬁnd the total number

of tomatoes by dividing the volume of the bin by the volume of one

tomato: 10 m

3

´10

−4

m

3

= 10

5

tomatoes. The transportation cost

Section 0.2 Scaling and Order-of-Magnitude Estimates 43

o / Consider a spherical cow.

per tomato is $2000´10

5

tomatoes=$0.02/tomato. That means that

transportation really doesn’t contribute very much to the cost of a

tomato.

Approximating the shape of a tomato as a cube is an example of

another general strategy for making order-of-magnitude estimates.

A similar situation would occur if you were trying to estimate how

many m

2

of leather could be produced from a herd of ten thousand

cattle. There is no point in trying to take into account the shape of

the cows’ bodies. A reasonable plan of attack might be to consider

a spherical cow. Probably a cow has roughly the same surface area

as a sphere with a radius of about 1 m, which would be 4π(1 m)

2

.

Using the well-known facts that pi equals three, and four times three

equals about ten, we can guess that a cow has a surface area of about

10 m

2

, so the herd as a whole might yield 10

5

m

2

of leather.

The following list summarizes the strategies for getting a good

order-of-magnitude estimate.

1. Don’t even attempt more than one signiﬁcant ﬁgure of preci-

sion.

2. Don’t guess area, volume, or mass directly. Guess linear di-

mensions and get area, volume, or mass from them.

3. When dealing with areas or volumes of objects with complex

shapes, idealize them as if they were some simpler shape, a

cube or a sphere, for example.

4. Check your ﬁnal answer to see if it is reasonable. If you esti-

mate that a herd of ten thousand cattle would yield 0.01 m

2

of leather, then you have probably made a mistake with con-

version factors somewhere.

44 Chapter 0 Introduction and Review

Problems

The symbols

√

, , etc. are explained on page 51.

1 Correct use of a calculator: (a) Calculate

74658

53222+97554

on a cal-

culator. [Self-check: The most common mistake results in 97555.40.]

√

(b) Which would be more like the price of a TV, and which would

be more like the price of a house, $3.5 10

5

or $3.5

5

?

2 Compute the following things. If they don’t make sense be-

cause of units, say so.

(a) 3 cm + 5 cm

(b) 1.11 m + 22 cm

(c) 120 miles + 2.0 hours

(d) 120 miles / 2.0 hours

3 Your backyard has brick walls on both ends. You measure a

distance of 23.4 m from the inside of one wall to the inside of the

other. Each wall is 29.4 cm thick. How far is it from the outside

of one wall to the outside of the other? Pay attention to signiﬁcant

ﬁgures.

4 The speed of light is 3.0 10

8

m/s. Convert this to furlongs

per fortnight. A furlong is 220 yards, and a fortnight is 14 days. An

inch is 2.54 cm.

√

5 Express each of the following quantities in micrograms:

(a) 10 mg, (b) 10

4

g, (c) 10 kg, (d) 100 10

3

g, (e) 1000 ng.

√

6 Convert 134 mg to units of kg, writing your answer in scientiﬁc

notation. > Solution, p. 868

7 In the last century, the average age of the onset of puberty for

girls has decreased by several years. Urban folklore has it that this

is because of hormones fed to beef cattle, but it is more likely to be

because modern girls have more body fat on the average and pos-

sibly because of estrogen-mimicking chemicals in the environment

from the breakdown of pesticides. A hamburger from a hormone-

implanted steer has about 0.2 ng of estrogen (about double the

amount of natural beef). A serving of peas contains about 300

ng of estrogen. An adult woman produces about 0.5 mg of estrogen

per day (note the diﬀerent unit!). (a) How many hamburgers would

a girl have to eat in one day to consume as much estrogen as an

adult woman’s daily production? (b) How many servings of peas?

√

8 The usual deﬁnition of the mean (average) of two numbers o

and / is (o+/)´2. This is called the arithmetic mean. The geometric

Problems 45

Problem 12.

Problem 10.

mean, however, is deﬁned as (o/)

1/2

(i.e., the square root of o/). For

the sake of deﬁniteness, let’s say both numbers have units of mass.

(a) Compute the arithmetic mean of two numbers that have units

of grams. Then convert the numbers to units of kilograms and

recompute their mean. Is the answer consistent? (b) Do the same

for the geometric mean. (c) If o and / both have units of grams,

what should we call the units of ab? Does your answer make sense

when you take the square root? (d) Suppose someone proposes to

you a third kind of mean, called the superduper mean, deﬁned as

(o/)

1/3

. Is this reasonable? > Solution, p. 868

9 In an article on the SARS epidemic, the May 7, 2003 New

York Times discusses conﬂicting estimates of the disease’s incuba-

tion period (the average time that elapses from infection to the ﬁrst

symptoms). “The study estimated it to be 6.4 days. But other sta-

tistical calculations ... showed that the incubation period could be

as long as 14.22 days.” What’s wrong here?

10 The photo shows the corner of a bag of pretzels. What’s

wrong here?

11 The distance to the horizon is given by the expression

√

2:/,

where : is the radius of the Earth, and / is the observer’s height

above the Earth’s surface. (This can be proved using the Pythagorean

theorem.) Show that the units of this expression make sense.

12 (a) Based on the deﬁnitions of the sine, cosine, and tangent,

what units must they have? (b) A cute formula from trigonometry

lets you ﬁnd any angle of a triangle if you know the lengths of

its sides. Using the notation shown in the ﬁgure, and letting : =

(o + / + c)´2 be half the perimeter, we have

tan ¹´2 =

(: −/)(: −c)

:(: −o)

.

Show that the units of this equation make sense. In other words,

check that the units of the right-hand side are the same as your

answer to part a of the question. > Solution, p. 868

13 A physics homework question asks, “If you start from rest

and accelerate at 1.54 m´s

2

for 3.29 s, how far do you travel by the

end of that time?” A student answers as follows:

1.54 3.29 = 5.07 m

His Aunt Wanda is good with numbers, but has never taken physics.

She doesn’t know the formula for the distance traveled under con-

stant acceleration over a given amount of time, but she tells her

nephew his answer cannot be right. How does she know?

14 You are looking into a deep well. It is dark, and you cannot

see the bottom. You want to ﬁnd out how deep it is, so you drop

a rock in, and you hear a splash 3.0 seconds later. How deep is the

well?

√

46 Chapter 0 Introduction and Review

15 You take a trip in your spaceship to another star. Setting oﬀ,

you increase your speed at a constant acceleration. Once you get

half-way there, you start decelerating, at the same rate, so that by

the time you get there, you have slowed down to zero speed. You see

the tourist attractions, and then head home by the same method.

(a) Find a formula for the time, T, required for the round trip, in

terms of d, the distance from our sun to the star, and o, the magni-

tude of the acceleration. Note that the acceleration is not constant

over the whole trip, but the trip can be broken up into constant-

acceleration parts.

(b) The nearest star to the Earth (other than our own sun) is Prox-

ima Centauri, at a distance of d = 4 10

16

m. Suppose you use an

acceleration of o = 10 m´s

2

, just enough to compensate for the lack

of true gravity and make you feel comfortable. How long does the

round trip take, in years?

(c) Using the same numbers for d and o, ﬁnd your maximum speed.

Compare this to the speed of light, which is 3.0 10

8

m/s. (Later

in this course, you will learn that there are some new things going

on in physics when one gets close to the speed of light, and that it

is impossible to exceed the speed of light. For now, though, just use

the simpler ideas you’ve learned so far.)

√

16 You climb half-way up a tree, and drop a rock. Then you

climb to the top, and drop another rock. How many times greater

is the velocity of the second rock on impact? Explain. (The answer

is not two times greater.)

17 If the acceleration of gravity on Mars is 1/3 that on Earth,

how many times longer does it take for a rock to drop the same

distance on Mars? Ignore air resistance. > Solution, p. 868

18 A person is parachute jumping. During the time between

when she leaps out of the plane and when she opens her chute, her

altitude is given by an equation of the form

n = / −c

t + /c

−t/k

,

where c is the base of natural logarithms, and /, c, and / are con-

stants. Because of air resistance, her velocity does not increase at a

steady rate as it would for an object falling in vacuum.

(a) What units would /, c, and / have to have for the equation to

make sense?

(b) Find the person’s velocity, ·, as a function of time. [You will

need to use the chain rule, and the fact that d(c

x

)´dr = c

x

.]

√

(c) Use your answer from part (b) to get an interpretation of the

constant c. [Hint: c

−x

approaches zero for large values of r.]

(d) Find the person’s acceleration, o, as a function of time.

√

(e) Use your answer from part (b) to show that if she waits long

enough to open her chute, her acceleration will become very small.

Problems 47

19 In July 1999, Popular Mechanics carried out tests to ﬁnd

which car sold by a major auto maker could cover a quarter mile

(402 meters) in the shortest time, starting from rest. Because the

distance is so short, this type of test is designed mainly to favor the

car with the greatest acceleration, not the greatest maximum speed

(which is irrelevant to the average person). The winner was the

Dodge Viper, with a time of 12.08 s. The car’s top (and presumably

ﬁnal) speed was 118.51 miles per hour (52.98 m/s). (a) If a car,

starting from rest and moving with constant acceleration, covers

a quarter mile in this time interval, what is its acceleration? (b)

What would be the ﬁnal speed of a car that covered a quarter mile

with the constant acceleration you found in part a? (c) Based on

the discrepancy between your answer in part / and the actual ﬁnal

speed of the Viper, what do you conclude about how its acceleration

changed over time? > Solution, p. 869

20 The speed required for a low-earth orbit is 7.910

3

m´s (see

ch. 10). When a rocket is launched into orbit, it goes up a little at

ﬁrst to get above almost all of the atmosphere, but then tips over

horizontally to build up to orbital speed. Suppose the horizontal

acceleration is limited to 3o to keep from damaging the cargo (or

hurting the crew, for a crewed ﬂight). (a) What is the minimum

distance the rocket must travel downrange before it reaches orbital

speed? How much does it matter whether you take into account the

initial eastward velocity due to the rotation of the earth? (b) Rather

than a rocket ship, it might be advantageous to use a railgun design,

in which the craft would be accelerated to orbital speeds along a

railroad track. This has the advantage that it isn’t necessary to lift

a large mass of fuel, since the energy source is external. Based on

your answer to part a, comment on the feasibility of this design for

crewed launches from the earth’s surface.

21 Consider the following passage from Alice in Wonderland, in

which Alice has been falling for a long time down a rabbit hole:

Down, down, down. Would the fall never come to an end? “I

wonder how many miles I’ve fallen by this time?” she said aloud.

“I must be getting somewhere near the center of the earth. Let me

see: that would be four thousand miles down, I think” (for, you see,

Alice had learned several things of this sort in her lessons in the

schoolroom, and though this was not a very good opportunity for

showing oﬀ her knowledge, as there was no one to listen to her, still

it was good practice to say it over)...

Alice doesn’t know much physics, but let’s try to calculate the

amount of time it would take to fall four thousand miles, starting

from rest with an acceleration of 10 m´s

2

. This is really only a lower

limit; if there really was a hole that deep, the fall would actually

take a longer time than the one you calculate, both because there

is air friction and because gravity gets weaker as you get deeper (at

48 Chapter 0 Introduction and Review

the center of the earth, o is zero, because the earth is pulling you

equally in every direction at once).

22 How many cubic inches are there in a cubic foot? The answer

is not 12.

√

23 Assume a dog’s brain is twice is great in diameter as a cat’s,

but each animal’s brain cells are the same size and their brains are

the same shape. In addition to being a far better companion and

much nicer to come home to, how many times more brain cells does

a dog have than a cat? The answer is not 2.

24 The population density of Los Angeles is about 4000 people´km

2

.

That of San Francisco is about 6000 people´km

2

. How many times

farther away is the average person’s nearest neighbor in LA than in

San Francisco? The answer is not 1.5.

√

25 A hunting dog’s nose has about 10 square inches of active

surface. How is this possible, since the dog’s nose is only about 1 in

1 in 1 in = 1 in

3

? After all, 10 is greater than 1, so how can it

ﬁt?

26 Estimate the number of blades of grass on a football ﬁeld.

27 In a computer memory chip, each bit of information (a 0 or

a 1) is stored in a single tiny circuit etched onto the surface of a

silicon chip. The circuits cover the surface of the chip like lots in a

housing development. A typical chip stores 64 Mb (megabytes) of

data, where a byte is 8 bits. Estimate (a) the area of each circuit,

and (b) its linear size.

28 Suppose someone built a gigantic apartment building, mea-

suring 10 km 10 km at the base. Estimate how tall the building

would have to be to have space in it for the entire world’s population

to live.

29 A hamburger chain advertises that it has sold 10 billion

Bongo Burgers. Estimate the total mass of feed required to raise

the cows used to make the burgers.

30 Estimate the volume of a human body, in cm

3

.

31 How many cm

2

is 1 mm

2

? > Solution, p. 869

32 Compare the light-gathering powers of a 3-cm-diameter tele-

scope and a 30-cm telescope. > Solution, p. 869

33 One step on the Richter scale corresponds to a factor of 100

in terms of the energy absorbed by something on the surface of the

Earth, e.g., a house. For instance, a 9.3-magnitude quake would

release 100 times more energy than an 8.3. The energy spreads out

from the epicenter as a wave, and for the sake of this problem we’ll

assume we’re dealing with seismic waves that spread out in three

dimensions, so that we can visualize them as hemispheres spreading

Problems 49

Problem 40.

Problem 42.

Albert Einstein, and his mous-

tache, problem 35.

out under the surface of the earth. If a certain 7.6-magnitude earth-

quake and a certain 5.6-magnitude earthquake produce the same

amount of vibration where I live, compare the distances from my

house to the two epicenters. > Solution, p. 869

34 In Europe, a piece of paper of the standard size, called A4,

is a little narrower and taller than its American counterpart. The

ratio of the height to the width is the square root of 2, and this has

some useful properties. For instance, if you cut an A4 sheet from left

to right, you get two smaller sheets that have the same proportions.

You can even buy sheets of this smaller size, and they’re called A5.

There is a whole series of sizes related in this way, all with the same

proportions. (a) Compare an A5 sheet to an A4 in terms of area and

linear size. (b) The series of paper sizes starts from an A0 sheet,

which has an area of one square meter. Suppose we had a series

of boxes deﬁned in a similar way: the B0 box has a volume of one

cubic meter, two B1 boxes ﬁt exactly inside an B0 box, and so on.

What would be the dimensions of a B0 box?

√

35 Estimate the mass of one of the hairs in Albert Einstein’s

moustache, in units of kg.

36 According to folklore, every time you take a breath, you are

inhaling some of the atoms exhaled in Caesar’s last words. Is this

true? If so, how many?

37 The Earth’s surface is about 70% water. Mars’s diameter is

about half the Earth’s, but it has no surface water. Compare the

land areas of the two planets.

√

38 The traditional Martini glass is shaped like a cone with

the point at the bottom. Suppose you make a Martini by pouring

vermouth into the glass to a depth of 3 cm, and then adding gin

to bring the depth to 6 cm. What are the proportions of gin and

vermouth? > Solution, p. 869

39 The central portion of a CD is taken up by the hole and some

surrounding clear plastic, and this area is unavailable for storing

data. The radius of the central circle is about 35% of the radius of

the data-storing area. What percentage of the CD’s area is therefore

lost?

√

40 The one-liter cube in the photo has been marked oﬀ into

smaller cubes, with linear dimensions one tenth those of the big

one. What is the volume of each of the small cubes?

> Solution, p. 869

41 Estimate the number of man-hours required for building the

Great Wall of China. > Solution, p. 869

42 (a) Using the microscope photo in the ﬁgure, estimate the

mass of a one cell of the E. coli bacterium, which is one of the

most common ones in the human intestine. Note the scale at the

lower right corner, which is 1 jm. Each of the tubular objects in

50 Chapter 0 Introduction and Review

Problem 43.

the column is one cell. (b) The feces in the human intestine are

mostly bacteria (some dead, some alive), of which E. coli is a large

and typical component. Estimate the number of bacteria in your

intestines, and compare with the number of human cells in your

body, which is believed to be roughly on the order of 10

13

. (c)

Interpreting your result from part b, what does this tell you about

the size of a typical human cell compared to the size of a typical

bacterial cell?

43 The ﬁgure shows a practical, simple experiment for de-

termining o to high precision. Two steel balls are suspended from

electromagnets, and are released simultaneously when the electric

current is shut oﬀ. They fall through unequal heights ∆r

1

and

∆r

2

. A computer records the sounds through a microphone as ﬁrst

one ball and then the other strikes the ﬂoor. From this recording, we

can accurately determine the quantity T deﬁned as T = ∆t

2

−∆t

1

,

i.e., the time lag between the ﬁrst and second impacts. Note that

since the balls do not make any sound when they are released, we

have no way of measuring the individual times ∆t

2

and ∆t

1

.

(a) Find an equation for o in terms of the measured quantities T,

∆r

1

and ∆r

2

.

√

(b) Check the units of your equation.

(c) Check that your equation gives the correct result in the case

where ∆r

1

is very close to zero. However, is this case realistic?

(d) What happens when ∆r

1

= ∆r

2

? Discuss this both mathemat-

ically and physically.

Key to symbols:

easy typical challenging diﬃcult very diﬃcult

√

An answer check is available at www.lightandmatter.com.

Problems 51

52 Chapter 0 Introduction and Review

The universe has been recycling

its contents ever since the Big

Bang, 13.7 billion years ago.

Chapter 1

Conservation of Mass

It took just a moment for that head to fall, but a hundred years

might not produce another like it.

Joseph-Louis Lagrange, referring to the execution of Lavoisier

on May 8, 1794

The Republic has no need of scientists.

Judge Pierre-Andr´e Cofﬁnhal’s reply to Lavoisier’s request for

a ﬁfteen-day delay of his execution, so that he could complete

some experiments that might be of value to the Republic. Cof-

ﬁnhal was himself executed August 6, 1794. As a scientiﬁc

experiment, Lavoisier decided to try to determine how long

his consciousness would continue after he was guillotined, by

blinking his eyes for as long as possible. He blinked twelve

times after his head was chopped oﬀ.

53

b / A measurement of gravi-

tational mass: the sphere has

a gravitational mass of ﬁve

kilograms.

a / Portrait of Monsieur Lavoisier

and His Wife, by Jacques-Louis

David, 1788. Lavoisier invented

the concept of conservation of

mass. The husband is depicted

with his scientiﬁc apparatus,

while in the background on the

left is the portfolio belonging

to Madame Lavoisier, who is

thought to have been a student of

David’s.

1.1 Mass

Change is impossible, claimed the ancient Greek philosopher Par-

menides. His work was nonscientiﬁc, since he didn’t state his ideas

in a form that would allow them to be tested experimentally, but

modern science nevertheless has a strong Parmenidean ﬂavor. His

main argument that change is an illusion was that something can’t

be turned into nothing, and likewise if you have nothing, you can’t

turn it into something. To make this into a scientiﬁc theory, we have

to decide on a way to measure what “something” is, and we can then

check by measurements whether the total amount of “something” in

the universe really stays constant. How much “something” is there

in a rock? Does a sunbeam count as “something?” Does heat count?

Motion? Thoughts and feelings?

If you look at the table of contents of this book, you’ll see that

the ﬁrst four chapters have the word “conservation” in them. In

physics, a conservation law is a statement that the total amount of

a certain physical quantity always stays the same. This chapter is

about conservation of mass. The metric system is designed around

a unit of distance, the meter, a unit of mass, the kilogram, and a

time unit, the second. Numerical measurement of distance and time

probably date back almost as far into prehistory as counting money,

but mass is a more modern concept. Until scientists ﬁgured out that

mass was conserved, it wasn’t obvious that there could be a single,

consistent way of measuring an amount of matter, hence jiggers of

whiskey and cords of wood. You may wonder why conservation of

mass wasn’t discovered until relatively modern times, but it wasn’t

obvious, for example, that gases had mass, and that the apparent

loss of mass when wood was burned was exactly matched by the

mass of the escaping gases.

Once scientists were on the track of the conservation of mass

concept, they began looking for a way to deﬁne mass in terms of a

deﬁnite measuring procedure. If they tried such a procedure, and the

result was that it led to nonconservation of mass, then they would

throw it out and try a diﬀerent procedure. For instance, we might

be tempted to deﬁne mass using kitchen measuring cups, i.e., as a

measure of volume. Mass would then be perfectly conserved for a

process like mixing marbles with peanut butter, but there would be

processes like freezing water that led to a net increase in mass, and

others like soaking up water with a sponge that caused a decrease.

If, with the beneﬁt of hindsight, it seems like the measuring cup

deﬁnition was just plain silly, then here’s a more subtle example of

a wrong deﬁnition of mass. Suppose we deﬁne it using a bathroom

scale, or a more precise device such as a postal scale that works on

the same principle of using gravity to compress or twist a spring.

The trouble is that gravity is not equally strong all over the surface

of the earth, so for instance there would be nonconservation of mass

when you brought an object up to the top of a mountain, where

54 Chapter 1 Conservation of Mass

c / A measurement of inertial

mass: the wagon recoils with

the same velocity in experiments

1 and 2, establishing that the

inertial mass of the cement block

is four kilograms.

d / The time for one cycle of

vibration is related to the object’s

inertial mass.

gravity is a little weaker.

Although some of the obvious possibilities have problems, there

do turn out to be at least two approaches to deﬁning mass that lead

to its being a conserved quantity, so we consider these deﬁnitions

to be “right” in the pragmatic sense that what’s correct is what’s

useful.

One deﬁnition that works is to use balances, but compensate

for the local strength of gravity. This is the method that is used

by scientists who actually specialize in ultraprecise measurements.

A standard kilogram, in the form of a platinum-iridium cylinder,

is kept in a special shrine in Paris. Copies are made that balance

against the standard kilogram in Parisian gravity, and they are then

transported to laboratories in other parts of the world, where they

are compared with other masses in the local gravity. The quantity

deﬁned in this way is called gravitational mass.

A second and completely diﬀerent approach is to measure how

hard it is to change an object’s state of motion. This tells us its in-

ertial mass. For example, I’d be more willing to stand in the way of

an oncoming poodle than in the path of a freight train, because my

body will have a harder time convincing the freight train to stop.

This is a dictionary-style conceptual deﬁnition, but in physics we

need to back up a conceptual deﬁnition with an operational deﬁni-

tion, which is one that spells out the operations required in order

to measure the quantity being deﬁned. We can operationalize our

deﬁnition of inertial mass by throwing a standard kilogram at an ob-

ject at a speed of 1 m/s (one meter per second) and measuring the

recoiling object’s velocity. Suppose we want to measure the mass

of a particular block of cement. We put the block in a toy wagon

on the sidewalk, and throw a standard kilogram at it. Suppose the

standard kilogram hits the wagon, and then drops straight down

to the sidewalk, having lost all its velocity, and the wagon and the

block inside recoil at a velocity of 0.23 m/s. We then repeat the

experiment with the block replaced by various numbers of standard

kilograms, and ﬁnd that we can reproduce the recoil velocity of 0.23

m/s with four standard kilograms in the wagon. We have deter-

mined the mass of the block to be four kilograms.

1

Although this

deﬁnition of inertial mass has an appealing conceptual simplicity, it

is obviously not very practical, at least in this crude form. Never-

theless, this method of collision is very much like the methods used

for measuring the masses of subatomic particles, which, after all,

can’t be put on little postal scales!

1

You might think intuitively that the recoil velocity should be exactly one

fourth of a meter per second, and you’d be right except that the wagon has some

mass as well. Our present approach, however, only requires that we give a way

to test for equality of masses. To predict the recoil velocity from scratch, we’d

need to use conservation of momentum, which is discussed in a later chapter.

Section 1.1 Mass 55

f / Example 1.

e / Astronaut Tamara Jernigan

measures her inertial mass

aboard the Space Shuttle.

Astronauts spending long periods of time in space need to mon-

itor their loss of bone and muscle mass, and here as well, it’s im-

possible to measure gravitational mass. Since they don’t want to

have standard kilograms thrown at them, they use a slightly diﬀer-

ent technique (ﬁgures d and e). They strap themselves to a chair

which is attached to a large spring, and measure the time it takes

for one cycle of vibration.

1.1.1 Problem-solving techniques

How do we use a conservation law, such as conservation of mass,

to solve problems? There are two basic techniques.

As an analogy, consider conservation of money, which makes it

illegal for you to create dollar bills using your own inkjet printer.

(Most people don’t intentionally destroy their dollar bills, either!)

Suppose the police notice that a particular store doesn’t seem to

have any customers, but the owner wears lots of gold jewelry and

drives a BMW. They suspect that the store is a front for some kind

of crime, perhaps counterfeiting. With intensive surveillance, there

are two basic approaches they could use in their investigation. One

method would be to have undercover agents try to ﬁnd out how

much money goes in the door, and how much money comes back

out at the end of the day, perhaps by arranging through some trick

to get access to the owner’s briefcase in the morning and evening. If

the amount of money that comes out every day is greater than the

amount that went in, and if they’re convinced there is no safe on the

premises holding a large reservoir of money, then the owner must

be counterfeiting. This inﬂow-equals-outﬂow technique is useful if

we are sure that there is a region of space within which there is no

supply of mass that is being built up or depleted.

A stream of water example 1

If you watch water ﬂowing out of the end of a hose, you’ll see

that the stream of water is fatter near the mouth of the hose, and

skinnier lower down. This is because the water speeds up as it

falls. If the cross-sectional area of the stream was equal all along

its length, then the rate of ﬂow (kilograms per second) through a

lower cross-section would be greater than the rate of ﬂow through

a cross-section higher up. Since the ﬂow is steady, the amount

of water between the two cross-sections stays constant. Conser-

vation of mass therefore requires that the cross-sectional area of

the stream shrink in inverse proportion to the increasing speed of

the falling water.

self-check A

Suppose the you point the hose straight up, so that the water is rising

rather than falling. What happens as the velocity gets smaller? What

happens when the velocity becomes zero? > Answer, p. 859

56 Chapter 1 Conservation of Mass

How can we apply a conservation law, such as conservation of

mass, in a situation where mass might be stored up somewhere? To

use a crime analogy again, a prison could contain a certain number

of prisoners, who are not allowed to ﬂow in or out at will. In physics,

this is known as a closed system. A guard might notice that a certain

prisoner’s cell is empty, but that doesn’t mean he’s escaped. He

could be sick in the inﬁrmary, or hard at work in the shop earning

cigarette money. What prisons actually do is to count all their

prisoners every day, and make sure today’s total is the same as

yesterday’s. One way of stating a conservation law is that for a

closed system, the total amount of stuﬀ (mass, in this chapter) stays

constant.

Lavoisier and chemical reactions in a closed system example 2

The French chemist Antoine-Laurent Lavoisier is considered the

inventor of the concept of conservation of mass. Before Lavoisier,

chemists had never systematically weighed their chemicals to

quantify the amount of each substance that was undergoing re-

actions. They also didn’t completely understand that gases were

just another state of matter, and hadn’t tried performing reactions

in sealed chambers to determine whether gases were being con-

sumed from or released into the air. For this they had at least

one practical excuse, which is that if you perform a gas-releasing

reaction in a sealed chamber with no room for expansion, you get

an explosion! Lavoisier invented a balance that was capable of

measuring milligram masses, and ﬁgured out how to do reactions

in an upside-down bowl in a basin of water, so that the gases

could expand by pushing out some of the water. In a crucial ex-

periment, Lavoisier heated a red mercury compound, which we

would now describe as mercury oxide (HgO), in such a sealed

chamber. A gas was produced (Lavoisier later named it “oxy-

gen”), driving out some of the water, and the red compound was

transformed into silvery liquid mercury metal. The crucial point

was that the total mass of the entire apparatus was exactly the

same before and after the reaction. Based on many observations

of this type, Lavoisier proposed a general law of nature, that mass

is always conserved. (In earlier experiments, in which closed sys-

tems were not used, chemists had become convinced that there

was a mysterious substance, phlogiston, involved in combustion

and oxidation reactions, and that phlogiston’s mass could be pos-

itive, negative, or zero depending on the situation!)

1.1.2 Delta notation

A convenient notation used throughout physics is ∆, the up-

percase Greek letter delta, which indicates “change in” or “after

minus before.” For example, if / represents how much money you

have in the bank, then a deposit of $100 could be represented as

∆/ = $100. That is, the change in your balance was $100, or the

Section 1.1 Mass 57

a / The two pendulum bobs

are constructed with equal grav-

itational masses. If their inertial

masses are also equal, then each

pendulum should take exactly the

same amount of time per swing.

b / If the cylinders have slightly

unequal ratios of inertial to grav-

itational mass, their trajectories

will be a little different.

c / A simpliﬁed drawing of an

E¨ otv¨ os-style experiment. If

the two masses, made out of

two different substances, have

slightly different ratios of inertial

to gravitational mass, then the

apparatus will twist slightly as the

earth spins.

balance after the transaction minus the balance before the transac-

tion equals $100. A withdrawal would be indicated by ∆/ < 0. We

represent “before” and “after” using the subscripts i (initial) and

1 (ﬁnal), e.g., ∆/ = /

f

− /

i

. Often the delta notation allows more

precision than English words. For instance, “time” can be used to

mean a point in time (“now’s the time”), t, or it could mean a period

of time (“the whole time, he had spit on his chin”), ∆t.

This notation is particularly convenient for discussing conserved

quantities. The law of conservation of mass can be stated simply as

∆: = 0, where : is the total mass of any closed system.

self-check B

If x represents the location of an object moving in one dimension, then

how would positive and negative signs of ∆x be interpreted? >

Answer, p. 859

Discussion Questions

A If an object had a straight-line x − t graph with ∆x = 0 and ∆t = 0,

what would be true about its velocity? What would this look like on a

graph? What about ∆t = 0 and ∆x = 0?

1.2 Equivalence of Gravitational and Inertial Mass

We ﬁnd experimentally that both gravitational and inertial mass

are conserved to a high degree of precision for a great number of

processes, including chemical reactions, melting, boiling, soaking up

water with a sponge, and rotting of meat and vegetables. Now it’s

logically possible that both gravitational and inertial mass are con-

served, but that there is no particular relationship between them, in

which case we would say that they are separately conserved. On the

other hand, the two conservation laws may be redundant, like having

one law against murder and another law against killing people!

Here’s an experiment that gets at the issue: stand up now and

drop a coin and one of your shoes side by side. I used a 400-gram

shoe and a 2-gram penny, and they hit the ﬂoor at the same time

as far as I could tell by eye. This is an interesting result, but a

physicist and an ordinary person will ﬁnd it interesting for diﬀerent

reasons.

The layperson is surprised, since it would seem logical that

heaver objects would always fall faster than light ones. However,

it’s fairly easy to prove that if air friction is negligible, any two ob-

jects made of the same substance must have identical motion when

they fall. For instance, a 2-kg copper mass must exhibit the same

falling motion as a 1-kg copper mass, because nothing would be

changed by physically joining together two 1-kg copper masses to

make a single 2-kg copper mass. Suppose, for example, that they

are joined with a dab of glue; the glue isn’t under any strain, be-

cause the two masses are doing the same thing side by side. Since

58 Chapter 1 Conservation of Mass

d / A more realistic drawing

of Braginskii and Panov’s ex-

periment. The whole thing was

encased in a tall vacuum tube,

which was placed in a sealed

basement whose temperature

was controlled to within 0.02

◦

C.

The total mass of the platinum

and aluminum test masses,

plus the tungsten wire and the

balance arms, was only 4.4 g.

To detect tiny motions, a laser

beam was bounced off of a mirror

attached to the wire. There was

so little friction that the balance

would have taken on the order of

several years to calm down com-

pletely after being put in place;

to stop these vibrations, static

electrical forces were applied

through the two circular plates to

provide very gentle twists on the

ellipsoidal mass between them.

After Braginskii and Panov.

the glue isn’t really doing anything, it makes no diﬀerence whether

the masses fall separately or side by side.

2

What a physicist ﬁnds remarkable about the shoe-and-penny ex-

periment is that it came out the way it did even though the shoe

and the penny are made of diﬀerent substances. There is absolutely

no theoretical reason why this should be true. We could say that it

happens because the greater gravitational mass of the shoe is exactly

counteracted by its greater inertial mass, which makes it harder for

gravity to get it moving, but that just leaves us wondering why in-

ertial mass and gravitational mass are always in proportion to each

other. It’s possible that they are only approximately equivalent.

Most of the mass of ordinary matter comes from neutrons and pro-

tons, and we could imagine, for instance, that neutrons and protons

do not have exactly the same ratio of gravitational to inertial mass.

This would show up as a diﬀerent ratio of gravitational to inertial

mass for substances containing diﬀerent proportions of neutrons and

protons.

Galileo did the ﬁrst numerical experiments on this issue in the

seventeenth century by rolling balls down inclined planes, although

he didn’t think about his results in these terms. A fairly easy way to

improve on Galileo’s accuracy is to use pendulums with bobs made

of diﬀerent materials. Suppose, for example, that we construct an

aluminum bob and a brass bob, and use a double-pan balance to

verify to good precision that their gravitational masses are equal. If

we then measure the time required for each pendulum to perform

a hundred cycles, we can check whether the results are the same.

If their inertial masses are unequal, then the one with a smaller

inertial mass will go through each cycle faster, since gravity has

an easier time accelerating and decelerating it. With this type of

experiment, one can easily verify that gravitational and inertial mass

are proportional to each other to an accuracy of 10

−3

or 10

−4

.

In 1889, the Hungarian physicist Roland E¨otv¨os used a slightly

diﬀerent approach to verify the equivalence of gravitational and in-

ertial mass for various substances to an accuracy of about 10

−8

, and

the best such experiment, ﬁgure d, improved on even this phenome-

nal accuracy, bringing it to the 10

−12

level.

3

In all the experiments

described so far, the two objects move along similar trajectories:

straight lines in the penny-and-shoe and inclined plane experiments,

and circular arcs in the pendulum version. The E¨otv¨os-style exper-

iment looks for diﬀerences in the objects’ trajectories. The concept

can be understood by imagining the following simpliﬁed version.

Suppose, as in ﬁgure b, we roll a brass cylinder oﬀ of a tabletop

and measure where it hits the ﬂoor, and then do the same with an

2

The argument only fails for objects light enough to be aﬀected appreciably

by air friction: a bunch of feathers falls diﬀerently if you wad them up because

the pattern of air ﬂow is altered by putting them together.

3

V.B. Braginskii and V.I. Panov, Soviet Physics JETP 34, 463 (1972).

Section 1.2 Equivalence of Gravitational and Inertial Mass 59

a / Galileo Galilei (1564-1642).

aluminum cylinder, making sure that both of them go over the edge

with precisely the same velocity. An object with zero gravitational

mass would ﬂy oﬀ straight and hit the wall, while an object with

zero inertial mass would make a sudden 90-degree turn and drop

straight to the ﬂoor. If the aluminum and brass cylinders have or-

dinary, but slightly unequal, ratios of gravitational to inertial mass,

then they will follow trajectories that are just slightly diﬀerent. In

other words, if inertial and gravitational mass are not exactly pro-

portional to each other for all substances, then objects made of

diﬀerent substances will have diﬀerent trajectories in the presence

of gravity.

A simpliﬁed drawing of a practical, high-precision experiment

is shown in ﬁgure c. Two objects made of diﬀerent substances are

balanced on the ends of a bar, which is suspended at the center from

a thin ﬁber. The whole apparatus moves through space on a com-

plicated, looping trajectory arising from the rotation of the earth

superimposed on the earth’s orbital motion around the sun. Both

the earth’s gravity and the sun’s gravity act on the two objects. If

their inertial masses are not exactly in proportion to their gravi-

tational masses, then they will follow slightly diﬀerent trajectories

through space, which will result in a very slight twisting of the ﬁber

between the daytime, when the sun’s gravity is pulling upward, and

the night, when the sun’s gravity is downward. Figure d shows a

more realistic picture of the apparatus.

This type of experiment, in which one expects a null result, is

a tough way to make a career as a scientist. If your measurement

comes out as expected, but with better accuracy than other people

had previously achieved, your result is publishable, but won’t be

considered earthshattering. On the other hand, if you build the

most sensitive experiment ever, and the result comes out contrary

to expectations, you’re in a scary situation. You could be right, and

earn a place in history, but if the result turns out to be due to a

defect in your experiment, then you’ve made a fool of yourself.

1.3 Galilean Relativity

I deﬁned inertial mass conceptually as a measure of how hard it

is to change an object’s state of motion, the implication being that if

you don’t interfere, the object’s motion won’t change. Most people,

however, believe that objects in motion have a natural tendency to

slow down. Suppose I push my refrigerator to the west for a while at

0.1 m/s, and then stop pushing. The average person would say fridge

just naturally stopped moving, but let’s imagine how someone in

China would describe the fridge experiment carried out in my house

here in California. Due to the rotation of the earth, California is

moving to the east at about 400 m/s. A point in China at the same

latitude has the same speed, but since China is on the other side

60 Chapter 1 Conservation of Mass

b / The earth spins. People

in Shanghai say they’re at rest

and people in Los Angeles are

moving. Angelenos say the same

about the Shanghainese.

of the planet, China’s east is my west. (If you’re ﬁnding the three-

dimensional visualization diﬃcult, just think of China and California

as two freight trains that go past each other, each traveling at 400

m/s.) If I insist on thinking of my dirt as being stationary, then

China and its dirt are moving at 800 m/s to my west. From China’s

point of view, however, it’s California that is moving 800 m/s in

the opposite direction (my east). When I’m pushing the fridge to

the west at 0.1 m/s, the observer in China describes its speed as

799.9 m/s. Once I stop pushing, the fridge speeds back up to 800

m/s. From my point of view, the fridge “naturally” slowed down

when I stopped pushing, but according to the observer in China, it

“naturally” sped up!

What’s really happening here is that there’s a tendency, due

to friction, for the fridge to stop moving relative to the ﬂoor. In

general, only relative motion has physical signiﬁcance in physics, not

absolute motion. It’s not even possible to deﬁne absolute motion,

since there is no special reference point in the universe that everyone

can agree is at rest. Of course if we want to measure motion, we

do have to pick some arbitrary reference point which we will say

is standing still, and we can then deﬁne r, n, and . coordinates

extending out from that point, which we can deﬁne as having r = 0,

n = 0, . = 0. Setting up such a system is known as choosing a

frame of reference. The local dirt is a natural frame of reference for

describing a game of basketball, but if the game was taking place on

the deck of a moving ocean liner, we would probably pick a frame of

reference in which the deck was at rest, and the land was moving.

Galileo was the ﬁrst scientist to reason along these lines, and

we now use the term Galilean relativity to refer to a somewhat

modernized version of his principle. Roughly speaking, the principle

of Galilean relativity states that the same laws of physics apply in

any frame of reference that is moving in a straight line at constant

speed. We need to reﬁne this statement, however, since it is not

necessarily obvious which frames of reference are going in a straight

line at constant speed. A person in a pickup truck pulling away

from a stoplight could admit that the car’s velocity is changing,

or she could insist that the truck is at rest, and the meter on the

dashboard is going up because the asphalt picked that moment to

start moving faster and faster backward! Frames of reference are

not all created equal, however, and the accelerating truck’s frame

of reference is not as good as the asphalt’s. We can tell, because

a bowling ball in the back of the truck, as in ﬁgure c, appears to

behave strangely in the driver’s frame of reference: in her rear-

view mirror, she sees the ball, initially at rest, start moving faster

and faster toward the back of the truck. This goofy behavior is

evidence that there is something wrong with her frame of reference.

A person on the sidewalk, however, sees the ball as standing still. In

the sidewalk’s frame of reference, the truck pulls away from the ball,

Section 1.3 Galilean Relativity 61

and this makes sense, because the truck is burning gas and using up

energy to change its state of motion.

We therefore deﬁne an inertial frame of reference as one in which

we never see objects change their state of motion without any appar-

ent reason. The sidewalk is a pretty good inertial frame, and a car

moving relative to the sidewalk at constant speed in a straight line

deﬁnes a pretty good inertial frame, but a car that is accelerating

or turning is not a inertial frame.

c / Left: In a frame of reference

that speeds up with the truck, the

bowling ball appears to change

its state of motion for no reason.

Right: In an inertial frame of ref-

erence, which the surface of the

earth approximately is, the bowl-

ing ball stands still, which makes

sense because there is nothing

that would cause it to change its

state of motion.

The principle of Galilean relativity states that inertial frames

exist, and that the same laws of physics apply in all inertial frames

of reference, regardless of one frame’s straight-line, constant-speed

motion relative to another.

4

Another way of putting it is that all inertial frames are created

equal. We can say whether one inertial frame is in motion or at rest

relative to another, but there is no privileged “rest frame.” There

is no experiment that comes out any diﬀerent in laboratories in

diﬀerent inertial frames, so there is no experiment that could tell us

which inertial frame is really, truly at rest.

The speed of sound example 3

> The speed of sound in air is only 340 m/s, so unless you live

at a near-polar latitude, you’re moving at greater than the speed

of sound right now due to the Earth’s rotation. In that case, why

don’t we experience exciting phenomena like sonic booms all the

time? > It might seem as though you’re unprepared to deal with

this question right now, since the only law of physics you know

4

The principle of Galilean relativity is extended on page 184.

62 Chapter 1 Conservation of Mass

e / Galileo’s trial.

d / Foucault demonstrates

his pendulum to an audience at a

lecture in 1851.

is conservation of mass, and conservation of mass doesn’t tell

you anything obviously useful about the speed of sound or sonic

booms. Galilean relativity, however, is a blanket statement about

all the laws of physics, so in a situation like this, it may let you

predict the results of the laws of physics without actually knowing

what all the laws are! If the laws of physics predict a certain value

for the speed of sound, then they had better predict the speed

of the sound relative to the air, not their speed relative to some

special “rest frame.” Since the air is moving along with the rotation

of the earth, we don’t detect any special phenomena. To get a

sonic boom, the source of the sound would have to be moving

relative to the air.

The Foucault pendulum example 4

Note that in the example of the bowling ball in the truck, I didn’t

claim the sidewalk was exactly a Galilean frame of reference.

This is because the sidewalk is moving in a circle due to the rota-

tion of the Earth, and is therefore changing the direction of its mo-

tion continuously on a 24-hour cycle. However, the curve of the

motion is so gentle that under ordinary conditions we don’t notice

that the local dirt’s frame of reference isn’t quite inertial. The ﬁrst

demonstration of the noninertial nature of the earth-ﬁxed frame of

reference was by Foucault using a very massive pendulum (ﬁg-

ure d) whose oscillations would persist for many hours without be-

coming imperceptible. Although Foucault did his demonstration in

Paris, it’s easier to imagine what would happen at the north pole:

the pendulum would keep swinging in the same plane, but the

earth would spin underneath it once every 24 hours. To someone

standing in the snow, it would appear that the pendulum’s plane

of motion was twisting. The effect at latitudes less than 90 de-

grees turns out to be slower, but otherwise similar. The Foucault

pendulum was the ﬁrst deﬁnitive experimental proof that the earth

really did spin on its axis, although scientists had been convinced

of its rotation for a century based on more indirect evidence about

the structure of the solar system.

Although popular belief has Galileo being prosecuted by the

Catholic Church for saying the earth rotated on its axis and also or-

bited the sun, Foucault’s pendulum was still centuries in the future,

so Galileo had no hard proof; Galileo’s insights into relative versus

absolute motion simply made it more plausible that the world could

be spinning without producing dramatic eﬀects, but didn’t disprove

the contrary hypothesis that the sun, moon, and stars went around

the earth every 24 hours. Furthermore, the Church was much more

liberal and enlightened than most people believe. It didn’t (and still

doesn’t) require a literal interpretation of the Bible, and one of the

Church oﬃcials involved in the Galileo aﬀair wrote that “the Bible

tells us how to go to heaven, not how the heavens go.” In other

words, religion and science should be separate. The actual reason

Section 1.3 Galilean Relativity 63

f / Discussion question B.

g / Discussion question C.

h / Discussion question E.

Galileo got in trouble is shrouded in mystery, since Italy in the age of

the Medicis was a secretive place where unscrupulous people might

settle a score with poison or a false accusation of heresy. What is cer-

tain is that Galileo’s satirical style of scientiﬁc writing made many

enemies among the powerful Jesuit scholars who were his intellec-

tual opponents — he compared one to a snake that doesn’t know

its own back is broken. It’s also possible that the Church was far

less upset by his astronomical work than by his support for atomism

(discussed further in the next section). Some theologians perceived

atomism as contradicting transubstantiation, the Church’s doctrine

that the holy bread and wine were literally transformed into the

ﬂesh and blood of Christ by the priest’s blessing.

self-check C

What is incorrect about the following supposed counterexamples to the

principle of inertia?

(1) When astronauts blast off in a rocket, their huge velocity does cause

a physical effect on their bodies — they get pressed back into their

seats, the ﬂesh on their faces gets distorted, and they have a hard time

lifting their arms.

(2) When you’re driving in a convertible with the top down, the wind in

your face is an observable physical effect of your absolute motion. >

Answer, p. 859

> Solved problem: a bug on a wheel page 70, problem 12

Discussion Questions

B A passenger on a cruise ship ﬁnds, while the ship is docked, that

he can leap off of the upper deck and just barely make it into the pool

on the lower deck. If the ship leaves dock and is cruising rapidly, will this

adrenaline junkie still be able to make it?

C You are a passenger in the open basket hanging under a helium

balloon. The balloon is being carried along by the wind at a constant

velocity. If you are holding a ﬂag in your hand, will the ﬂag wave? If so,

which way? [Based on a question from PSSC Physics.]

D Aristotle stated that all objects naturally wanted to come to rest, with

the unspoken implication that “rest” would be interpreted relative to the

surface of the earth. Suppose we could transport Aristotle to the moon,

put himin a space suit, and kick himout the door of the spaceship and into

the lunar landscape. What would he expect his fate to be in this situation?

If intelligent creatures inhabited the moon, and one of them independently

came up with the equivalent of Aristotelian physics, what would they think

about objects coming to rest?

E Sally is on an amusement park ride which begins with her chair being

hoisted straight up a tower at a constant speed of 60 miles/hour. Despite

stern warnings from her father that he’ll take her home the next time she

misbehaves, she decides that as a scientiﬁc experiment she really needs

to release her corndog over the side as she’s on the way up. She does

not throw it. She simply sticks it out of the car, lets it go, and watches it

against the background of the sky, with no trees or buildings as reference

points. What does the corndog’s motion look like as observed by Sally?

64 Chapter 1 Conservation of Mass

Does its speed ever appear to her to be zero? What acceleration does

she observe it to have: is it ever positive? negative? zero? What would

her enraged father answer if asked for a similar description of its motion

as it appears to him, standing on the ground?

1.3.1 Applications of calculus

Let’s see how this relates to calculus. If an object is moving in

one dimension, we can describe its position with a function r(t). The

derivative · = dr´dt is called the velocity, and the second derivative

o = d·´dt = d

2

r´dt

2

is the acceleration. Galilean relativity tells us

that there is no detectable eﬀect due to an object’s absolute velocity,

since in some other frame of reference, the object’s velocity might

be zero. However, an acceleration does have physical consequences.

i / This Air Force doctor volun-

teered to ride a rocket sled as a

medical experiment. The obvious

effects on his head and face are

not because of the sled’s speed

but because of its rapid changes

in speed: increasing in (ii) and

(iii), and decreasing in (v) and (vi).

In (iv) his speed is greatest, but

because his speed is not increas-

ing or decreasing very much at

this moment, there is little effect

on him. (U.S. Air Force)

Observers in diﬀerent inertial frames of reference will disagree

on velocities, but agree on accelerations. Let’s keep it simple by

continuing to work in one dimension. One frame of reference uses a

coordinate system r

1

, and the other we label r

2

. If the positive r

1

and r

2

axes point in the same direction, then in general two inertial

frames could be related by an equation of the form r

2

= r

1

+/ +nt,

where n is the constant velocity of one frame relative to the other,

and the constant / tells us how far apart the origins of the two

coordinate systems were at t = 0. The velocities are diﬀerent in the

two frames of reference:

dr

2

dt

=

dr

1

dt

+ n ,

Suppose, for example, frame 1 is deﬁned from the sidewalk, and

Section 1.3 Galilean Relativity 65

Self-check D.

frame 2 is ﬁxed to a ﬂoat in a parade that is moving to our left at

a velocity n = 1 m´s. A dog that is moving to the right with a

velocity ·

1

= dr

1

´dt = 3 m´s in the sidewalk’s frame will appear to

be moving at a velocity of ·

2

= dr

2

´dt = dr

1

´dt +n = 4 m´s in the

ﬂoat’s frame.

For acceleration, however, we have

d

2

r

2

dt

2

=

d

2

r

1

dt

2

,

since the derivative of the constant n is zero. Thus an accelera-

tion, unlike a velocity, can have a deﬁnite physical signiﬁcance to all

observers in all frames of reference. If this wasn’t true, then there

would be no particular reason to deﬁne a quantity called acceleration

in the ﬁrst place.

self-check D

The ﬁgure shows a bottle of beer sitting on a table in the dining car of a

train. Does the tilting of the surface tell us about the train’s velocity, or

its acceleration? What would a person in the train say about the bottle’s

velocity? What about a person standing in a ﬁeld outside and looking in

through the window? What about the acceleration? > Answer, p. 859

1.4 A Preview of Some Modern Physics

“Mommy, why do you and Daddy have to go to work?” “To make

money, sweetie-pie.” “Why do we need money?” “To buy food.”

“Why does food cost money?” When small children ask a chain

of “why” questions like this, it usually isn’t too long before their

parents end up saying something like, “Because that’s just the way

it is,” or, more honestly, “I don’t know the answer.”

The same happens in physics. We may gradually learn to ex-

plain things more and more deeply, but there’s always the possibility

that a certain observed fact, such as conservation of mass, will never

be understood on any deeper level. Science, after all, uses limited

methods to achieve limited goals, so the ultimate reason for all exis-

tence will always be the province of religion. There is, however, an

appealing explanation for conservation of mass, which is atomism,

the theory that matter is made of tiny, unchanging particles. The

atomic hypothesis dates back to ancient Greece, but the ﬁrst solid

evidence to support it didn’t come until around the eighteenth cen-

tury, and individual atoms were never detected until about 1900.

The atomic theory implies not only conservation of mass, but a

couple of other things as well.

First, it implies that the total mass of one particular element

is conserved. For instance, lead and gold are both elements, and if

we assume that lead atoms can’t be turned into gold atoms, then

the total mass of lead and the total mass of gold are separately

conserved. It’s as though there was not just a law against pickpock-

66 Chapter 1 Conservation of Mass

eting, but also a law against surreptitiously moving money from

one of the victim’s pockets to the other. It turns out, however, that

although chemical reactions never change one type of atom into an-

other, transmutation can happen in nuclear reactions, such as the

ones that created most of the elements in your body out of the pri-

mordial hydrogen and helium that condensed out of the aftermath

of the Big Bang.

Second, atomism implies that mass is quantized, meaning that

only certain values of mass are possible and the ones in between

can’t exist. We can have three atoms of gold or four atoms of gold,

but not three an a half. Although quantization of mass is a natural

consequence of any theory in which matter is made up of tiny parti-

cles, it was discovered in the twentieth century that other quantities,

such as energy, are quantized as well, which had previously not been

suspected.

self-check E

Is money quantized? > Answer, p. 859

If atomism is starting to make conservation of mass seem in-

evitable to you, then it may disturb you to know that Einstein

discovered it isn’t really conserved. If you put a 50-gram iron nail

in some water, seal the whole thing up, and let it sit on a fantasti-

cally precise balance while the nail rusts, you’ll ﬁnd that the system

loses about 6 10

−12

kg of mass by the time the nail has turned

completely to rust. This has to do with Einstein’s famous equa-

tion 1 = :c

2

. Rusting releases heat energy, which then escapes

out into the room. Einstein’s equation states that this amount of

heat, 1, is equivalent to a certain amount of mass, :. The c in

the c

2

is the speed of light, which is a large number, and a large

amount of energy is therefore equivalent to a very small amount of

mass, so you don’t notice nonconservation of mass under ordinary

conditions. What is really conserved is not the mass, :, but the

mass-plus-energy, 1 + :c

2

. The point of this discussion is not to

get you to do numerical exercises with 1 = :c

2

(at this point you

don’t even know what units are used to measure energy), but simply

to point out to you the empirical nature of the laws of physics. If a

previously accepted theory is contradicted by an experiment, then

the theory needs to be changed. This is also a good example of

something called the correspondence principle, which is a historical

observation about how scientiﬁc theories change: when a new scien-

tiﬁc theory replaces an old one, the old theory is always contained

within the new one as an approximation that works within a certain

restricted range of situations. Conservation of mass is an extremely

good approximation for all chemical reactions, since chemical reac-

tions never release or consume enough energy to change the total

mass by a large percentage. Conservation of mass would not have

been accepted for 110 years as a fundamental principle of physics

if it hadn’t been veriﬁed over and over again by a huge number of

Section 1.4 A Preview of Some Modern Physics 67

accurate experiments.

This chapter is summarized on page 881. Notation and terminology

are tabulated on pages 877-878.

68 Chapter 1 Conservation of Mass

Problem 6.

Problem 8.

Problems

The symbols

√

, , etc. are explained on page 71.

1 Thermometers normally use either mercury or alcohol as their

working ﬂuid. If the level of the ﬂuid rises or falls, does this violate

conservation of mass?

2 The ratios of the masses of diﬀerent types of atoms were

determined a century before anyone knew any actual atomic masses

in units of kg. One ﬁnds, for example, that when ordinary table

salt, NaCl, is melted, the chlorine atoms bubble oﬀ as a gas, leaving

liquid sodium metal. Suppose the chlorine escapes, so that its mass

cannot be directly determined by weighing. Experiments show that

when 1.00000 kg of NaCl is treated in this way, the mass of the

remaining sodium metal is 0.39337 kg. Based on this information,

determine the ratio of the mass of a chlorine atom to that of a

sodium atom.

√

3 An atom of the most common naturally occurring uranium

isotope breaks up spontaneously into a thorium atom plus a helium

atom. The masses are as follows:

uranium 3.95292849 10

−25

kg

thorium 3.88638748 10

−25

kg

helium 6.646481 10

−27

kg

Each of these experimentally determined masses is uncertain in its

last decimal place. Is mass conserved in this process to within the

accuracy of the experimental data? How would you interpret this?

4 If two spherical water droplets of radius / combine to make a

single droplet, what is its radius? (Assume that water has constant

density.)

5 Make up an experiment that would test whether mass is con-

served in an animal’s metabolic processes.

6 The ﬁgure shows a hydraulic jack. What is the relationship

between the distance traveled by the plunger and the distance trav-

eled by the object being lifted, in terms of the cross-sectional areas?

7 In an example in this chapter, I argued that a stream of water

must change its cross-sectional area as it rises or falls. Suppose that

the stream of water is conﬁned to a constant-diameter pipe. Which

assumption breaks down in this situation?

8 A river with a certain width and depth splits into two parts,

each of which has the same width and depth as the original river.

What can you say about the speed of the current after the split?

9 The diagram shows a cross-section of a wind tunnel of the

Problems 69

Problem 11.

Problem 12.

kind used, for example, to test designs of airplanes. Under normal

conditions of use, the density of the air remains nearly constant

throughout the whole wind tunnel. How can the speed of the air

be controlled and calculated? (Diagram by NASA, Glenn Research

Center.)

10 A water wave is in a tank that extends horizontally from

r = 0 to r = o, and from . = 0 to . = /. We assume for simplicity

that at a certain moment in time the height n of the water’s surface

only depends on r, not ., so that we can eﬀectively ignore the .

coordinate. Under these assumptions, the total volume of the water

in the tank is

\ = /

a

0

n(r)dr .

Since the density of the water is essentially constant, conservation

of mass requires that \ is always the same. When the water is calm,

we have n = /, where / = \´o/. If two diﬀerent wave patterns move

into each other, we might imagine that they would add in the sense

that n

total

−/ = (n

1

−/) +(n

2

−/). Show that this type of addition

is consistent with conservation of mass.

11 The ﬁgure shows the position of a falling ball at equal time

intervals, depicted in a certain frame of reference. On a similar grid,

show how the ball’s motion would appear in a frame of reference that

was moving horizontally at a speed of one box per unit time relative

to the ﬁrst frame.

12 The ﬁgure shows the motion of a point on the rim of a rolling

wheel. (The shape is called a cycloid.) Suppose bug A is riding on

the rim of the wheel on a bicycle that is rolling, while bug B is on

the spinning wheel of a bike that is sitting upside down on the ﬂoor.

Bug A is moving along a cycloid, while bug B is moving in a circle.

Both wheels are doing the same number of revolutions per minute.

Which bug has a harder time holding on, or do they ﬁnd it equally

70 Chapter 1 Conservation of Mass

diﬃcult? > Solution, p. 869

Key to symbols:

easy typical challenging diﬃcult very diﬃcult

√

An answer check is available at www.lightandmatter.com.

Problems 71

72 Chapter 1 Conservation of Mass

a / James Joule, 1818-1889.

The son of a wealthy brewer,

Joule was tutored as a young

man by the famous scientist John

Dalton. Fascinated by electricity,

he and his brother experimented

by giving electric shocks to each

other and to the family’s servants.

Joule ran the brewery as an adult,

and science was merely a serious

hobby. His work on energy can

be traced to his attempt to build

an electric motor that would

replace steam engines. His ideas

were not accepted at ﬁrst, partly

because they contradicted the

widespread belief that heat was

a ﬂuid, and partly because they

depended on extremely precise

measurements, which had not

previously been common in

physics.

Chapter 2

Conservation of Energy

Do you pronounce it Joule’s to rhyme with schools,

Joule’s to rhyme with Bowls,

or Joule’s to rhyme with Scowls?

Whatever you call it, by Joule’s,

or Joule’s,

or Joule’s, it’s good!

Advertising slogan of the Joule brewery. The name, and the

corresponding unit of energy, are now usually pronounced so

as to rhyme with “school.”

2.1 Energy

2.1.1 The energy concept

You’d probably like to be able to drive your car and light your

apartment without having to pay money for gas and electricity, and

if you do a little websurﬁng, you can easily ﬁnd people who say

they have the solution to your problem. This kind of scam has been

around for centuries. It used to be known as a perpetual motion

machine, but nowadays the con artists’ preferred phrase is “free

energy.”

1

A typical “free-energy” machine would be a sealed box

that heats your house without needing to be plugged into a wall

socket or a gas pipe. Heat comes out, but nothing goes in, and this

can go on indeﬁnitely. But an interesting thing happens if you try

to check on the advertised performance of the machine. Typically,

you’ll ﬁnd out that either the device is still in development, or it’s

back-ordered because so many people have already taken advantage

of this Fantastic Opportunity! In a few cases, the magic box exists,

but the inventor is only willing to demonstrate very small levels of

heat output for short periods of time, in which case there’s probably

a tiny hearing-aid battery hidden in there somewhere, or some other

trick.

Since nobody has ever succeeded in building a device that creates

heat out of nothing, we might also wonder whether any device exists

that can do the opposite, turning heat into nothing. You might think

1

An entertaining account of this form of quackery is given in Voodoo Sci-

ence: The Road from Foolishness to Fraud, Robert Park, Oxford Univer-

sity Press, 2000. Until reading this book, I hadn’t realized the degree to which

pseudoscience had penetrated otherwise respectable scientiﬁc organizations like

NASA.

73

b / Heat energy can be con-

verted to light energy. Very hot

objects glow visibly, and even

objects that aren’t so hot give

off infrared light, a color of light

that lies beyond the red end of

the visible rainbow. This photo

was made with a special camera

that records infrared light. The

man’s warm skin emits quite a

bit of infrared light energy, while

his hair, at a lower temperature,

emits less.

that a refrigerator was such a device, but actually your refrigerator

doesn’t destroy the heat in the food. What it really does is to extract

some of the heat and bring it out into the room. That’s why it has

big radiator coils on the back, which get hot when it’s in operation.

If it’s not possible to destroy or create heat outright, then you

might start to suspect that heat was a conserved quantity. This

would be a successful rule for explaining certain processes, such as

the transfer of heat between a cold Martini and a room-temperature

olive: if the olive loses a little heat, then the drink must gain the

same amount. It would fail in general, however. Sunlight can heat

your skin, for example, and a hot lightbulb ﬁlament can cool oﬀ by

emitting light. Based on these observations, we could revise our pro-

posed conservation law, and say that there is something called heat-

pluslight, which is conserved. Even this, however, needs to be gen-

eralized in order to explain why you can get a painful burn playing

baseball when you slide into a base. Now we could call it heatplus-

lightplusmotion. The word is getting pretty long, and we haven’t

even ﬁnished the list.

Rather than making the word longer and longer, physicists have

hijacked the word “energy” from ordinary usage, and give it a new,

speciﬁc technical meaning. Just as the Parisian platinum-iridium

kilogram deﬁnes a speciﬁc unit of mass, we need to pick something

that deﬁnes a deﬁnite unit of energy. The metric unit of energy is

the joule (J), and we’ll deﬁne it as the amount of energy required

to heat 0.24 grams of water from 20 to 21 degrees Celsius. (Don’t

memorize the numbers.)

2

Temperature of a mixture example 1

> If 1.0 kg of water at 20

◦

C is mixed with 4.0 kg of water at 30

◦

C,

what is the temperature of the mixture?

> Let’s assume as an approximation that each degree of tem-

perature change corresponds to the same amount of energy. In

other words, we assume ∆E=mc∆T, regardless of whether, as

in the deﬁnition of the joule, we have ∆T = 21

◦

C-20

◦

C or, as in

the present example, some other combination of initial and ﬁnal

temperatures. To be consistent with the deﬁnition of the joule, we

must have c = (1 J)/(0.24 g)/(1

◦

C) = 4.210

3

J/kg

◦

C, which is

referred to as the speciﬁc heat of water.

Conservation of energy tells us ∆E = 0, so

m

1

c∆T

1

+ m

2

c∆T

2

= 0

2

Although the deﬁnition refers to the Celsius scale of temperature, it’s not

necessary to give an operational deﬁnition of the temperature concept in general

(which turns out to be quite a tricky thing to do completely rigorously); we

only need to establish two speciﬁc temperatures that can be reproduced on ther-

mometers that have been calibrated in a standard way. Heat and temperature

are discussed in more detail in section 2.4, and in chapter 5. Conceptually, heat

is a measure of energy, whereas temperature relates to how concentrated that

energy is.

74 Chapter 2 Conservation of Energy

or

∆T

1

∆T

2

= −

m

2

m

1

= −4.0 .

If T

1

has to change four times as much as T

2

, and the two ﬁ-

nal temperatures are equal, then the ﬁnal temperature must be

28

◦

C.

Note how only diﬀerences in temperature and energy appeared

in the preceding example. In other words, we don’t have to make

any assumptions about whether there is a temperature at which all

an object’s heat energy is removed. Historically, the energy and

temperature units were invented before it was shown that there is

such a temperature, called absolute zero. There is a scale of tem-

perature, the Kelvin scale, in which the unit of temperature is the

same as the Celsius degree, but the zero point is deﬁned as absolute

zero. But as long as we only deal with temperature diﬀerences, it

doesn’t matter whether we use Kelvin or Celsius. Likewise, as long

as we deal with diﬀerences in heat energy, we don’t normally have

to worry about the total amount of heat energy the object has. In

standard physics terminology, “heat” is used only to refer to diﬀer-

ences, while the total amount is called the object’s “thermal energy.”

This distinction is often ignored by scientists in casual speech, and

in this book I’ll usually use “heat” for either quantity.

We’re deﬁning energy by adding up things from a list, which we

lengthen as needed: heat, light, motion, etc. One objection to this

approach is aesthetic: physicists tend to regard complication as a

synonym for ugliness. If we have to keep on adding more and more

forms of energy to our laundry list, then it’s starting to sound like

energy is distressingly complicated. Luckily it turns out that energy

is simpler than it seems. Many forms of energy that are apparently

unrelated turn out to be manifestations of a small number of forms

at the atomic level, and this is the topic of section 2.4.

Discussion Questions

A The ancient Greek philosopher Aristotle said that objects “naturally”

tended to slow down, unless there was something pushing on them to

keep them moving. What important insight was he missing?

2.1.2 Logical issues

Another possible objection is that the open-ended approach to

deﬁning energy might seem like a kind of cheat, since we keep on

inventing new forms whenever we need them. If a certain experi-

ment seems to violate conservation of energy, can’t we just invent

a new form of invisible “mystery energy” that patches things up?

This would be like balancing your checkbook by putting in a fake

transaction that makes your calculation of the balance agree with

Section 2.1 Energy 75

c / As in ﬁgure b, an infrared

camera distinguishes hot and

cold areas. As the bike skids to

a stop with its brakes locked, the

kinetic energy of the bike and

rider is converted into heat in

both the ﬂoor (top) and the tire

(bottom).

your bank’s. If we could fudge this way, then conservation of energy

would be untestable — impossible to prove or disprove.

Actually all scientiﬁc theories are unprovable. A theory can

never be proved, because the experiments can only cover a ﬁnite

number out of the inﬁnitely many situations in which the theory is

supposed to apply. Even a million experiments won’t suﬃce to prove

it in the same sense of the word “proof” that is used in mathematics.

However, even one experiment that contradicts a theory is suﬃcient

to show that the theory is wrong. A theory that is immune to

disproof is a bad theory, because there is no way to test it. For

instance, if I say that 23 is the maximum number of angels that

can dance on the head of a pin, I haven’t made a properly falsiﬁable

scientiﬁc theory, since there’s no method by which anyone could even

attempt to prove me wrong based on observations or experiments.

Conservation of energy is testable because new forms of energy

are expected to show regular mathematical behavior, and are sup-

posed to be related in a measurable way to observable phenomena.

As an example, let’s see how to extend the energy concept to include

motion.

2.1.3 Kinetic energy

Energy of motion is called kinetic energy. (The root of the word

is the same as the word “cinema” – in French, kinetic energy is

“´energie cin´etique.”) How does an object’s kinetic energy depend

on its mass and velocity? Joule attempted a conceptually simple

experiment on his honeymoon in the French-Swiss Alps near Mt.

Chamonix, in which he measured the diﬀerence in temperature be-

tween the top and bottom of a waterfall. The water at the top of

the falls has some gravitational energy, which isn’t our subject right

now, but as it drops, that gravitational energy is converted into ki-

netic energy, and then into heat energy due to internal friction in

the churning pool at the bottom:

gravitational energy →kinetic energy →heat energy

In the logical framework of this book’s presentation of energy, the

signiﬁcance of the experiment is that it provides a way to ﬁnd out

how an object’s kinetic energy depends on its mass and velocity. The

increase in heat energy should equal the kinetic energy of the water

just before impact, so in principle we could measure the water’s

mass, velocity, and kinetic energy, and see how they relate to one

another.

3

3

From Joule’s point of view, the point of the experiment was diﬀerent. At

that time, most physicists believed that heat was a quantity that was conserved

separately from the rest of the things to which we now refer as energy, i.e.,

mechanical energy. Separate units of measurement had been constructed for

heat and mechanical of energy, but Joule was trying to show that one could

convert back and forth between them, and that it was actually their sum that

was conserved, if they were both expressed in consistent units. His main result

76 Chapter 2 Conservation of Energy

d / A simpliﬁed drawing of

Joule’s paddlewheel experiment.

e / The heating of the tire

and ﬂoor in ﬁgure c is something

that the average person might

have predicted in advance, but

there are other situations where

it’s not so obvious. When a

ball slams into a wall, it doesn’t

rebound with the same amount of

kinetic energy. Was some energy

destroyed? No. The ball and

the wall heat up. These infrared

photos show a squash ball at

room temperature (top), and after

it has been played with for several

minutes (bottom), causing it to

heat up detectably.

Although the story is picturesque and memorable, most books

that mention the experiment fail to note that it was a failure! The

problem was that heat wasn’t the only form of energy being released.

In reality, the situation was more like this:

gravitational energy →kinetic energy

→heat energy

+ sound energy

+ energy of partial evaporation .

The successful version of the experiment, shown in ﬁgures d and

f, used a paddlewheel spun by a dropping weight. As with the

waterfall experiment, this one involves several types of energy, but

the diﬀerence is that in this case, they can all be determined and

taken into account. (Joule even took the precaution of putting a

screen between himself and the can of water, so that the infrared

light emitted by his warm body wouldn’t warm it up at all!) The

result

4

is

1 =

1

2

:·

2

[kinetic energy] .

Whenever you encounter an equation like this for the ﬁrst time,

you should get in the habit of interpreting it. First oﬀ, we can tell

that by making the mass or velocity greater, we’d get more kinetic

energy. That makes sense. Notice, however, that we have mass to

the ﬁrst power, but velocity to the second. Having the whole thing

proportional to mass to the ﬁrst power is necessary on theoretical

grounds, since energy is supposed to be additive. The dependence

on ·

2

couldn’t have been predicted, but it is sensible. For instance,

suppose we reverse the direction of motion. This would reverse the

sign of ·, because in one dimension we use positive and negative signs

to indicate the direction of motion. But since ·

2

is what appears in

the equation, the resulting kinetic energy is unchanged.

What about the factor of 1/2 in front? It comes out to be

exactly 1/2 by the design of the metric system. If we’d been using

the old-fashioned British engineering system of units (which is no

was the conversion factor that would allow the two sets of units to be reconciled.

By showing that the conversion factor came out the same in diﬀerent types

of experiments, he was supporting his assertion that heat was not separately

conserved. From Joule’s perspective or from ours, the result is to connect the

mysterious, invisible phenomenon of heat with forms of energy that are visible

properties of objects, i.e., mechanical energy.

4

If you’ve had a previous course in physics, you may have seen this presented

not as an empirical result but as a theoretical one, derived from Newton’s laws,

and in that case you might feel you’re being cheated here. However, I’m go-

ing to reverse that reasoning and derive Newton’s laws from the conservation

laws in chapter 3. From the modern perspective, conservation laws are more

fundamental, because they apply in cases where Newton’s laws don’t.

Section 2.1 Energy 77

f / A realistic drawing of Joule’s apparatus, based on the illustration

in his original paper. The paddlewheel is sealed inside the can in the

middle. Joule wound up the two 13-kg lead weights and dropped them

1.6 meters, repeating this 20 times to produce a temperature change

of only about half a degree Fahrenheit in the water inside the sealed

can. He claimed in his paper to be able to measure temperatures to an

accuracy of 1/200 of a degree.

longer used in the U.K.), the equation would have been 1 = (7.44

10

−2

Btu s

2

´slug ft

2

):·

2

. The version of the metric system called

the SI,

5

in which everything is based on units of kilograms, meters,

and seconds, not only has the numerical constant equal to 1/2, but

makes it unitless as well. In other words, we can think of the joule

as simply an abbreviation, 1 J=1 kg m

2

´s

2

. More familiar examples

of this type of abbreviation are 1 minute=60 s, and the metric unit

of land area, 1 hectare=10000 m

2

.

Ergs and joules example 2

> There used to be two commonly used systems of metric units,

referred to as mks and cgs. The mks system, now called the SI,

is based on the meter, the kilogram, and the second. The cgs

system, which is now obsolete, was based on the centimeter, the

gram, and the second. In the cgs system, the unit of energy is

not the joule but the erg, 1 erg=1 g cm

2

´s

2

. How many ergs are

in one joule?

> The simplest approach is to treat the units as if they were alge-

bra symbols.

1 J = 1

kg m

2

s

2

= 1

kg m

2

s

2

1000 g

1 kg

100 cm

1 m

2

= 10

7

g cm

2

s

2

= 10

7

erg

5

Syst`eme International

78 Chapter 2 Conservation of Energy

Cabin air in a jet airplane example 3

> A jet airplane typically cruises at a velocity of 270 m/s. Outside

air is continuously pumped into the cabin, but must be cooled off

ﬁrst, both because (1) it heats up due to friction as it enters the en-

gines, and (2) it is heated as a side-effect of being compressed to

cabin pressure. Calculate the increase in temperature due to the

ﬁrst effect. The speciﬁc heat of dry air is about 1.010

3

J/kg

◦

C.

> This is easiest to understand in the frame of reference of the

plane, in which the air rushing into the engine is stopped, and its

kinetic energy converted into heat.

6

Conservation of energy tells

us

0 = ∆E

= ∆K + ∆E

heat

.

In the plane’s frame of reference, the air’s initial velocity is v

i

=270

m/s, and its ﬁnal velocity is zero, so the change in its kinetic en-

ergy is negative,

∆K = K

f

−K

i

= 0 −(1/2)mv

i

2

= −(1/2)mv

i

2

.

Assuming that the speciﬁc heat of air is roughly independent of

temperature (which is why the number was stated with the word

“about”), we can substitute into 0 = ∆K + ∆E

heat

, giving

0 = −

1

2

mv

i

2

+ mc∆T

1

2

v

i

2

= c∆T .

Note how the mass cancels out. This is a big advantage of solving

problems algebraically ﬁrst, and waiting until the end to plug in

numbers. With a purely numerical approach, we wouldn’t even

have known what value of m to pick, or if we’d guessed a value

like 1 kg, we wouldn’t have known whether our answer depended

on that guess.

Solving for ∆T, and writing v instead of v

i

for simplicity, we ﬁnd

∆T =

v

2

2c

≈ 40

◦

C .

6

It’s not at all obvious that the solution would work out in the earth’s frame of

reference, although Galilean relativity states that it doesn’t matter which frame

we use. Chapter 3 discusses the relationship between conservation of energy and

Galilean relativity.

Section 2.1 Energy 79

The passengers would be boiled alive if not for the refrigeration.

The ﬁrst stage of cooling happens via heat exchangers in the en-

gine struts, but a second stage, using a refrigerator under the ﬂoor

of the cabin, is also necessary. Running this refrigerator uses up

energy, cutting into the fuel efﬁciency of the airplane, which is why

typically only 50% of the cabin’s air is replaced in each pumping

cycle of 2-3 minutes. The airlines emphasize that this is a much

faster recirculation rate than in the ventilation systems of most

buildings, but people are packed more tightly in an airplane.

2.1.4 Power

Power, 1, is deﬁned as the rate of change of energy, d1´dt.

Power thus has units of joules per second, which are usually abbre-

viated as watts, 1 W=1 J/s. Since energy is conserved, we would

have d1´dt = 0 if 1 was the total energy of a closed system, and

that’s not very interesting. What’s usually more interesting to dis-

cuss is either the power ﬂowing in or out of an open system, or the

rate at which energy is being transformed from one form into an-

other. The following is an example of energy ﬂowing into an open

system.

Heating by a lightbulb example 4

> The electric company bills you for energy in units of kilowatt-

hours (kilowatts multiplied by hours) rather than in SI units of

joules. How many joules is a kilowatt-hour?

> 1 kilowatt-hour = (1 kW)(1 hour) = (1000 J/s)(3600 s) = 3.6 MJ.

Now here’s an example of energy being transformed from one

form into another.

Human wattage example 5

> Food contains chemical energy (discussed in more detail in sec-

tion 2.4), and for historical reasons, food energy is normally given

in non-SI units of Calories. One Calorie with a capital “C” equals

1000 calories, and 1 calorie is deﬁned as 4.18 J. A typical person

consumes 2000 Calories of food in a day, and converts nearly all

of that directly to body heat. Compare the person’s heat produc-

tion to the rate of energy consumption of a 100-watt lightbulb.

> Strictly speaking, we can’t really compute the derivative dE´dt ,

since we don’t know how the person’s metabolism ebbs and ﬂows

over the course of a day. What we can really compute is ∆E´∆t ,

which is the power averaged over a one-day period.

Converting to joules, we ﬁnd ∆E = 8 10

6

J for the amount of

energy transformed into heat within our bodies in one day. Con-

verting the time interval likewise into SI units, ∆t = 9 10

4

s.

Dividing, we ﬁnd that our power is 90 J/s = 90 W, about the same

as a lightbulb.

80 Chapter 2 Conservation of Energy

g / A skateboarder rises to

the edge of an empty pool and

then falls back down.

h / The sum of kinetic plus

gravitational energy is constant.

2.1.5 Gravitational energy

Gravitational energy, to which I’ve already alluded, is diﬀerent

from heat and kinetic energy in an important way. Heat and kinetic

energy are properties of a single object, whereas gravitational energy

describes an interaction between two objects. When the skater in

ﬁgures g and h is at the top, his distance from the bulk of the planet

earth is greater. Since we observe his kinetic energy decreasing on

the way up, there must be some other form of energy that is increas-

ing. We invent a new form of energy, called gravitational energy, and

written l or l

g

, which depends on the distance between his body

and the planet. Where is this energy? It’s not in the skater’s body,

and it’s not inside the earth, either, since it takes two to tango. If

either object didn’t exist, there wouldn’t be any interaction or any

way to measure a distance, so it wouldn’t make sense to talk about

a distance-dependent energy. Just as marriage is a relationship be-

tween two people, gravitational energy is a relationship between two

objects.

There is no precise way to deﬁne the distance between the skater

and the earth, since both are objects that have ﬁnite size. As dis-

cussed in more detail in section 2.3, gravity is one of the fundamen-

tal forces of nature, a universal attraction between any two particles

that have mass. Each atom in the skater’s body is at a deﬁnite dis-

tance from each atom in the earth, but each of these distances is

diﬀerent. An atom in his foot is only a few centimeters from some

of the atoms in the plaster side of the pool, but most of the earth’s

atoms are thousands of kilometers away from him. In theory, we

might have to add up the contribution to the gravitational energy

for every interaction between an atom in the skater’s body and an

atom in the earth.

For our present purposes, however, there is a far simpler and

more practical way to solve problems. In any region of the earth’s

surface, there is a direction called “down,” which we can establish

by dropping a rock or hanging a plumb bob. In ﬁgure h, the skater is

moving up and down in one dimension, and if we did measurements

of his kinetic energy, like the made-up data in the ﬁgure, we could

infer his gravitational energy. As long as we stay within a relatively

small range of heights, we ﬁnd that an object’s gravitational energy

increases at a steady rate with height. In other words, the strength

of gravity doesn’t change much if you only move up or down a few

meters. We also ﬁnd that the gravitational energy is proportional

to the mass of the object we’re testing. Writing n for the height,

and o for the overall constant of proportionality, we have

l

g

= :on . [gravitational energy; n=height; only ac-

curate within a small range of heights]

The number o, with units of joules per kilogram per meter, is called

the gravitational ﬁeld. It tells us the strength of gravity in a certain

Section 2.1 Energy 81

region of space. Near the surface of our planet, it has a value of

about 9.8 J´kg m, which is conveniently close to 10 J´kg m for

rough calculations.

Velocity at the bottom of a drop example 6

> If the skater in ﬁgure g drops 3 meters from rest, what is his

velocity at the bottom of the pool?

> Starting from conservation of energy, we have

0 = ∆E

= ∆K + ∆U

= K

f

−K

i

+ U

f

−U

i

=

1

2

mv

f

2

+ mgy

f

−mgy

i

(because K

i

=0)

=

1

2

mv

f

2

+ mg∆y , (∆y <0)

so

v =

−2g∆y

=

−(2)(10 J/kgm)( −3 m)

= 8 m/s (rounded to one sig. ﬁg.)

There are a couple of important things to note about this ex-

ample. First, we were able to massage the equation so that it only

involved ∆n, rather than n itself. In other words, we don’t need to

worry about where n = 0 is; any coordinate system will work, as

long as the positive n axis points up, not down. This is no accident.

Gravitational energy can always be changed by adding a constant

onto it, with no eﬀect on the ﬁnal result, as long as you’re consistent

within a given problem.

The other interesting thing is that the mass canceled out: even

if the skater gained weight or strapped lead weights to himself, his

velocity at the bottom would still be 8 m/s. This isn’t an accident

either. This is the same conclusion we reached in section 1.2, based

on the equivalence of gravitational and inertial mass. The kinetic

energy depends on the inertial mass, while gravitational energy is

related to gravitational mass, but since these two quantities are

equal, we were able to use a single symbol, :, for them, and cancel

them out.

We can see from the equation · =

√

−2o∆n that a falling object’s

velocity isn’t constant. It increases as the object drops farther and

farther. What about its acceleration? If we assume that air friction

is negligible, the arguments in section 1.2 show that the accelera-

tion can’t depend on the object’s mass, so there isn’t much else the

acceleration can depend on besides o. In fact, the acceleration of a

82 Chapter 2 Conservation of Energy

falling object equals −o (in a coordinate system where the positive

n axis points up), as we can easily show using the chain rule:

d·

dt

=

d·

d1

d1

dl

dl

dn

dn

dt

=

1

:·

(−1)(:o)(·)

= −o ,

where I’ve calculated d·´d1 as 1´(d1´d·), and d1´dl = −1 can

be found by diﬀerentiating 1+l = (constant) to give d1+dl = 0.

7

We can also check that the units of o, J´kgm, are equivalent to

the units of acceleration,

J

kgm

=

kgm

2

´s

2

kgm

=

m

s

2

,

and therefore the strength of the gravitational ﬁeld near the earth’s

surface can just as well be stated as 10 m´s

2

.

Speed after a given time example 7

> An object falls from rest. How fast is it moving after two sec-

onds? Assume that the amount of energy converted to heat by

air friction is negligible.

> Under the stated assumption, we have a = −g, which can be

integrated to give v = −gt + constant. If we let t = 0 be the

beginning of the fall, then the constant of integration is zero, so at

t = 2 s we have v = −gt = −(10 m/s

2

) (2 s) = 20 m/s.

The Vomit Comet example 8

> The U.S. Air Force has an airplane, affectionately known as the

Vomit Comet, in which astronaut trainees can experience sim-

ulated weightlessness. Oversimplifying a little, imagine that the

plane climbs up high, and then drops straight down like a rock.

(It actually ﬂies along a parabola.) Since the people are falling

with the same acceleration as the plane, the sensation is just like

what you’d experience if you went out of the earth’s gravitational

ﬁeld. If the plane can start from 10 km up, what is the maximum

amount of time for which the dive can last?

> Based on data about acceleration and distance, we want to

ﬁnd time. Acceleration is the second derivative of distance, so if

we integrate the acceleration twice with respect to time, we can

ﬁnd how position relates to time. For convenience, let’s pick a

coordinate system in which the positive y axis is down, so a=g

7

There is a mathematical loophole in this argument that would allow the

object to hover for a while with zero velocity and zero acceleration. This point

is discussed on page 846.

Section 2.1 Energy 83

i / Two balls start from rest,

and roll from A to B by different

paths.

instead of −g.

a = g

v = gt + constant (integrating)

= gt (starts from rest)

y =

1

2

gt

2

+ constant (integrating again)

Choosing our coordinate system to have y = 0 at t = 0, we can

make the second constant of integration equal zero as well, so

t =

2y

g

=

2 10000 m

10 m/s

2

=

2000 s

2

= 40 s (to one sig. ﬁg.)

Note that if we hadn’t converted the altitude to units of meters,

we would have gotten the wrong answer, but we would have been

alerted to the problem because the units inside the square root

wouldn’t have come out to be s

2

. In general, it’s a good idea to

convert all your data into SI (meter-kilogram-second) units before

you do anything with them.

High road, low road example 9

> In ﬁgure i, what can you say based on conservation of energy

about the speeds of the balls when the reach point B? What does

conservation of energy tell you about which ball will get there

ﬁrst? Assume friction doesn’t convert any mechanical energy to

heat or sound energy.

> Since friction is assumed to be negligible, there are only two

forms of energy involved: kinetic and gravitational. Since both

balls start from rest, and both lose the same amount of gravi-

tational energy, they must have the same kinetic energy at the

end, and therefore they’re rolling at the same speed when they

reach B. (A subtle point is that the balls have kinetic energy both

because they’re moving through space and because they’re spin-

ning as they roll. These two types of energy must be in ﬁxed

proportion to one another, so this has no effect on the conclu-

sion.)

Conservation of energy does not, however, tell us anything obvi-

ous about which ball gets there ﬁrst. This is a general problem

with applying conservation laws: conservation laws don’t refer di-

rectly to time, since they are statements that something stays the

same at all moments in time. We expect on intuitive grounds that

the ball that goes by the lower ramp gets to B ﬁrst, since it builds

up speed early on.

84 Chapter 2 Conservation of Energy

j / How much energy is re-

quired to raise the submerged

box through a height ∆y?

k / A seesaw.

l / The biceps muscle is a

reversed lever.

Buoyancy example 10

> A cubical box with mass m and volume V = b

3

is submerged

in a ﬂuid of density ρ. How much energy is required to raise it

through a height ∆y?

> As the box moves up, it invades a volume V

= b

2

∆y previously

occupied by some of the ﬂuid, and ﬂuid ﬂows into an equal volume

that it has vacated on the bottom. Lowering this amount of ﬂuid

by a height b reduces the ﬂuid’s gravitational energy by ρV

gb =

ρgb

3

∆y, so the net change in energy is

∆E = mg∆y −ρgb

3

∆y

= (m−ρV)g∆y .

In other words, it’s as if the mass of the box had been reduced by

an amount equal to the ﬂuid that otherwise would have occupied

that volume. This is known as Archimedes’ principle, and it is

true even if the box is not a cube, although we’ll defer the more

general proof until page 197 in chapter 3. If the box is less dense

than the ﬂuid, then it will ﬂoat.

A simple machine example 11

> If the father and son on the seesaw in ﬁgure k start from rest,

what will happen?

> Note that although the father is twice as massive, he is at half

the distance from the fulcrum. If the seesaw was going to start

rotating, it would have to be losing gravitational energy in order to

gain some kinetic energy. However, there is no way for it to gain

or lose gravitational energy by rotating in either direction. The

change in gravitational energy would be

∆U = ∆U

1

+ ∆U

2

= g(m

1

∆y

1

+ m

2

∆y

2

) ,

but ∆y

1

and ∆y

2

have opposite signs and are in the proportion of

two to one, since the son moves along a circular arc that covers

the same angle as the father’s but has half the radius. Therefore

∆U = 0, and there is no way for the seesaw to trade gravitational

energy for kinetic.

The seesaw example demonstrates the principle of the lever,

which is one of the basic mechanical building blocks known as sim-

ple machines. As discussed in more detail in chapters 3 and 4, the

principle applies even when the interactions involved aren’t gravita-

tional.

Note that although a lever makes it easier to lift a heavy weight,

it also decreases the distance traveled by the load. By reversing the

lever, we can make the load travel a greater distance, at the expense

of increasing the amount of force required. The human muscular-

skeletal system uses reversed levers of this kind, which allows us to

Section 2.1 Energy 85

n / A hydraulic jack.

o / The surfaces are friction-

less. The black blocks are in

equilibrium.

m / Discussion question C.

move more rapidly, and also makes our bodies more compact, at the

expense of brute strength. A piano uses reversed levers so that a

small amount of motion of the key produces a longer swing of the

hammer. Another interesting example is the hydraulic jack shown

in ﬁgure n. The analysis in terms of gravitational energy is exactly

the same as for the seesaw, except that the relationship between ∆n

1

and ∆n

2

is now determined not by geometry but by conservation

of mass: since water is highly incompressible, conservation of mass

is approximately the same as a requirement of constant volume,

which can only be satisﬁed if the distance traveled by each piston is

in inverse proportion to its cross-sectional area.

Discussion Questions

A Hydroelectric power (water ﬂowing over a dam to spin turbines)

appears to be completely free. Does this violate conservation of energy?

If not, then what is the ultimate source of the electrical energy produced

by a hydroelectric plant?

B You throw a steel ball up in the air. How can you prove based on

conservation of energy that it has the same speed when it falls back into

your hand? What if you threw a feather up? Is energy not conserved in

this case?

C The ﬁgure shows a pendulum that is released at A and caught by a

peg as it passes through the vertical, B. To what height will the bob rise

on the right?

D What is wrong with the following deﬁnitions of g?

(a) “g is gravity.”

(b) “g is the speed of a falling object.”

(c) “g is how hard gravity pulls on things.”

2.1.6 Equilibrium and stability

The seesaw in ﬁgure k is in equilibrium, meaning that if it starts

out being at rest, it will stay put. This is known as a neutral equi-

librium, since the seesaw has no preferred position to which it will

return if we disturb it. If we move it to a diﬀerent position and

release it, it will stay at rest there as well. If we put it in motion, it

will simply continue in motion until one person’s feet hit the ground.

Most objects around you are in stable equilibria, like the black

block in ﬁgure o/3. Even if the block is moved or set in motion, it

will oscillate about the equilibrium position. The pictures are like

graphs of n versus r, but since the gravitational energy l = :on

is proportional to n, we can just as well think of them as graphs

of l versus r. The block’s stable equilibrium position is where

the function l(r) has a local minimum. The book you’re reading

right now is in equilibrium, but gravitational energy isn’t the only

form of energy involved. To move it upward, we’d have to supply

gravitational energy, but downward motion would require a diﬀerent

kind of energy, in order to compress the table more. (As we’ll see

in section 2.4, this is electrical energy due to interactions between

86 Chapter 2 Conservation of Energy

p / Water in a U-shaped tube.

atoms within the table.)

A diﬀerentiable function’s local extrema occur where its deriva-

tive is zero. A position where dl´dr is zero can be a stable (3),

neutral (2), or unstable equilibrium, (4). An unstable equilibrium

is like a pencil balanced on its tip. Although it could theoretically

remain balanced there forever, in reality it will topple due to any

tiny perturbation, such as an air current or a vibration from a pass-

ing truck. This is a technical, mathematical deﬁnition of instability,

which is more restrictive than the way the word is used in ordinary

speech. Most people would describe a domino standing upright as

being unstable, but in technical usage it would be considered stable,

because a certain ﬁnite amount of energy is required to tip it over,

and perturbations smaller than that would only cause it to oscillate

around its equilibrium position.

The domino is also an interesting example because it has two

local minima, one in which it is upright, and another in which it is

lying ﬂat. A local minimum that is not the global minimum, as in

ﬁgure o/5, is referred to as a metastable equilibrium.

Water in a U-shaped tube example 12

> The U-shaped tube in ﬁgure p has cross-sectional area A, and

the density of the water inside is ρ. Find the gravitational energy

as a function of the quantity y shown in the ﬁgure, and show that

there is an equilibrium at y=0.

> The question is a little ambiguous, since gravitational energy

is only well deﬁned up to an additive constant. To ﬁx this con-

stant, let’s deﬁne U to be zero when y=0. The difference between

U(y) and U(0) is the energy that would be required to lift a wa-

ter column of height y out of the right side, and place it above

the dashed line, on the left side, raising it through a height y.

This water column has height y and cross-sectional area A, so

its volume is Ay, its mass is ρAy, and the energy required is

mgy=(ρAy)gy=ρgAy

2

. We then have U(y) = U(0) + ρgAy

2

=

ρgAy

2

.

To ﬁnd equilibria, we look for places where the derivative dU´dy =

2ρgAy equals 0. As we’d expect intuitively, the only equilibrium

occurs at y=0. The second derivative test shows that this is a

local minimum (not a maximum or a point of inﬂection), so this is

a stable equilibrium.

2.1.7 Predicting the direction of motion

Kinetic energy doesn’t depend on the direction of motion. Some-

times this is helpful, as in the high road-low road example (p. 84,

example 9), where we were able to predict that the balls would have

the same ﬁnal speeds, even though they followed diﬀerent paths and

were moving in diﬀerent directions at the end. In general, however,

the two conservation laws we’ve encountered so far aren’t enough to

Section 2.1 Energy 87

q / A car drives over a cliff.

predict an object’s path through space, for which we need conserva-

tion of momentum (chapter 3), and the mathematical technique of

vectors. Before we develop those ideas in their full generality, how-

ever, it will be helpful to do a couple of simple examples, including

one that we’ll get a lot of mileage out of in section 2.3.

Suppose we observe an air hockey puck gliding frictionlessly to

the right at a velocity ·, and we want to predict its future motion.

Since there is no friction, no kinetic energy is converted to heat.

The only form of energy involved is kinetic energy, so conservation

of energy, ∆1 = 0, becomes simply ∆1 = 0. There’s no particular

reason for the puck to do anything but continue moving to the right

at constant speed, but it would be equally consistent with conserva-

tion of energy if it spontaneously decided to reverse its direction of

motion, changing its velocity to −·. Either way, we’d have ∆1 = 0.

There is, however, a way to tell which motion is physical and which

is unphysical. Suppose we consider the whole thing again in the

frame of reference that is initially moving right along with the puck.

In this frame, the puck starts out with 1 = 0. What we origi-

nally described as a reversal of its velocity from · to −· is, in this

new frame of reference, a change from zero velocity to −2·, which

would violate conservation of energy. In other words, the physically

possible motion conserves energy in all frames of reference, but the

unphysical motion only conserves energy in one special frame of

reference.

For our second example, we consider a car driving oﬀ the edge

of a cliﬀ (q). For simplicity, we assume that air friction is negligible,

so only kinetic and gravitational energy are involved. Does the car

follow trajectory 1, familiar from Road Runner cartoons, trajectory

2, a parabola, or 3, a diagonal line? All three could be consistent

with conservation of energy, in the ground’s frame of reference. For

instance, the car would have constant gravitational energy along

the initial horizontal segment of trajectory 1, so during that time

it would have to maintain constant kinetic energy as well. Only a

parabola, however, is consistent with conservation of energy com-

bined with Galilean relativity. Consider the frame of reference that

is moving horizontally at the same speed as that with which the car

went over the edge. In this frame of reference, the cliﬀ slides out

from under the initially motionless car. The car can’t just hover

for a while, so trajectory 1 is out. Repeating the same math as in

example 8 on p. 83, we have

r

∗

= 0 , n

∗

=

1

2

ot

2

in this frame of reference, where the stars indicate coordinates mea-

sured in the moving frame of reference. These coordinates are re-

lated to the ground-ﬁxed coordinates (r, n) by the equations

r = r

∗

+ ·t ond n = n

∗

,

88 Chapter 2 Conservation of Energy

where · is the velocity of one frame with respect to the other. We

therefore have

r = ·t , n =

1

2

ot

2

,

in our original frame of reference. Eliminating t, we can see that

this has the form of a parabola:

n =

o

2·

2

r

2

.

self-check A

What would the car’s motion be like in the * frame of reference if it

followed trajectory 3? > Answer, p. 859

2.2 Numerical Techniques

Engineering majors are a majority of the students in the kind of

physics course for which this book is designed, so most likely you

fall into that category. Although you surely recognize that physics

is an important part of your training, if you’ve had any exposure

to how engineers really work, you’re probably skeptical about the

ﬂavor of problem-solving taught in most science courses. You real-

ize that not very many practical engineering calculations fall into

the narrow range of problems for which an exact solution can be

calculated with a piece of paper and a sharp pencil. Real-life prob-

lems are usually complicated, and typically they need to be solved

by number-crunching on a computer, although we can often gain

insight by working simple approximations that have algebraic solu-

tions. Not only is numerical problem-solving more useful in real life,

it’s also educational; as a beginning physics student, I really only

felt like I understood projectile motion after I had worked it both

ways, using algebra and then a computer program. (This was back

in the days when 64 kilobytes of memory was considered a lot.)

In this section, we’ll start by seeing how to apply numerical

techniques to some simple problems for which we know the answer in

“closed form,” i.e., a single algebraic expression without any calculus

or inﬁnite sums. After that, we’ll solve a problem that would have

made you world-famous if you could have done it in the seventeenth

century using paper and a quill pen! Before you continue, you should

read Appendix 1 on page 843 that introduces you to the Python

programming language.

First let’s solve the trivial problem of ﬁnding how much time it

takes an object moving at speed v to travel a straight-line distance

dist. This closed-form answer is, of course, dist/v, but the point

is to introduce the techniques we can use to solve other problems of

this type. The basic idea is to divide the distance up into n equal

parts, and add up the times required to traverse all the parts. The

following Python function does the job. Note that you shouldn’t

Section 2.2 Numerical Techniques 89

type in the line numbers on the left, and you don’t need to type

in the comments, either. I’ve omitted the prompts >>> and ... in

order to save space.

1 import math

2 def time1(dist,v,n):

3 x=0 # Initialize the position.

4 dx = dist/n # Divide dist into n equal parts.

5 t=0 # Initialize the time.

6 for i in range(n):

7 x = x+dx # Change x.

8 dt=dx/v # time=distance/speed

9 t=t+dt # Keep track of elapsed time.

10 return t

How long does it take to move 1 meter at a constant speed of 1 m/s?

If we do this,

>>> time1(1.0,1.0,10) # dist, v, n

0.99999999999999989

Python produces the expected answer by dividing the distance into

ten equal 0.1-meter segments, and adding up the ten 0.1-second

times required to traverse each one. Since the object moves at con-

stant speed, it doesn’t even matter whether we set n to 10, 1, or a

million:

>>> time1(1.0,1.0,1) # dist, v, n

1.0

Now let’s do an example where the answer isn’t obvious to people

who don’t know calculus: how long does it take an object to fall

through a height h, starting from rest? We know from example 8

on page 83 that the exact answer, found using calculus, is

2/´o.

Let’s see if we can reproduce that answer numerically. The main

diﬀerence between this program and the previous one is that now

the velocity isn’t constant, so we need to update it as we go along.

Conservation of energy gives :o/ = (1´2):·

2

+:on for the velocity

· at height n, so · = −

**−2o(/ −n). (We choose the negative root
**

because the object is moving down, and our coordinate system has

the positive n axis pointing up.)

1 import math

2 def time2(h,n):

3 g=9.8 # gravitational field

4 y=h # Initialize the height.

5 v=0 # Initialize the velocity.

6 dy = -h/n # Divide h into n equal parts.

90 Chapter 2 Conservation of Energy

7 t=0 # Initialize the time.

8 for i in range(n):

9 y = y+dy # Change y. (Note dy<0.)

10 v = -math.sqrt(2*g*(h-y)) # from cons. of energy

11 dt=dy/v # dy and v are <0, so dt is >0

12 t=t+dt # Keep track of elapsed time.

13 return t

For h=1.0 m, the closed-form result is

2 1.0 m´9.8 m´s

2

= 0.45 s.

With the drop split up into only 10 equal height intervals, the nu-

merical technique provides a pretty lousy approximation:

>>> time2(1.0,10) # h, n

0.35864270709233342

But by increasing n to ten thousand, we get an answer that’s as

close as we need, given the limited accuracy of the raw data:

>>> time2(1.0,10000) # h, n

0.44846664060793945

A subtle point is that we changed y in line 9, and then on line

10 we calculated v, which depends on y. Since y is only changing

by a ten-thousandth of a meter with each step, you might think

this wouldn’t make much of a diﬀerence, and you’d be almost right,

except for one small problem: if we swapped lines 9 and 10, then

the very ﬁrst time through the loop, we’d have v=0, which would

produce a division-by-zero error when we calculated dt! Actually

what would make the most sense would be to calculate the velocity

at height y and the velocity at height y+dy (recalling that dy is

negative), average them together, and use that value of y to calculate

the best estimate of the velocity between those two points. Since

the acceleration is constant in the present example, this modiﬁcation

results in a program that gives an exact result even for n=1:

1 import math

2 def time3(h,n):

3 g=9.8

4 y=h

5 v=0

6 dy = -h/n

7 t=0

8 for i in range(n):

9 y_old = y

10 y = y+dy

11 v_avg = -(math.sqrt(2*g*(h-y_old))+math.sqrt(2*g*(h-y)))/2.

12 dt=dy/v_avg

13 t=t+dt

14 return t

Section 2.2 Numerical Techniques 91

a / Approximations to the

brachistochrone curve using

a third-order polynomial (solid

line), and a seventh-order poly-

nomial (dashed). The latter

only improves the time by four

milliseconds.

>>> time3(1.0,1) # h, n

0.45175395145262565

Now we’re ready to attack a problem that challenged the best

minds of Europe back in the days when there were no computers.

In 1696, the mathematician Johann Bernoulli posed the following

famous question. Starting from rest, an object slides frictionlessly

over a curve joining the point (o, /) to the point (0, 0). Of all the

possible shapes that such a curve could have, which one gets the

object to its destination in the least possible time, and how much

time does it take? The optimal curve is called the brachistochrone,

from the Greek “short time.” The solution to the brachistochrone

problem evaded Bernoulli himself, as well as Leibniz, who had been

one of the inventors of calculus. The English physicist Isaac Newton,

however, stayed up late one night after a day’s work running the

royal mint, and, according to legend, produced an algebraic solution

at four in the morning. He then published it anonymously, but

Bernoulli is said to have remarked that when he read it, he knew

instantly from the style that it was Newton — he could “tell the

lion from the mark of his claw.”

Rather than attempting an exact algebraic solution, as Newton

did, we’ll produce a numerical result for the shape of the curve

and the minimum time, in the special case of o=1.0 m and /=1.0 m.

Intuitively, we want to start with a fairly steep drop, since any speed

we can build up at the start will help us throughout the rest of the

motion. On the other hand, it’s possible to go too far with this idea:

if we drop straight down for the whole vertical distance, and then

do a right-angle turn to cover the horizontal distance, the resulting

time of 0.68 s is quite a bit longer than the optimal result, the reason

being that the path is unnecessarily long. There are inﬁnitely many

possible curves for which we could calculate the time, but let’s look

at third-order polynomials,

n = c

1

r + c

2

r

2

+ c

3

r

3

,

where we require c

3

= (/−c

1

o−c

2

o

2

)´o

3

in order to make the curve

pass through the point (o, /). The Python program, below, is not

much diﬀerent from what we’ve done before. The function only asks

for c

1

and c

2

, and calculates c

3

internally at line 4. Since the motion

is two-dimensional, we have to calculate the distance between one

point and the next using the Pythagorean theorem, at line 16.

1 import math

2 def timeb(a,b,c1,c2,n):

3 g=9.8

4 c3 = (b-c1*a-c2*a**2)/(a**3)

5 x=a

6 y=b

92 Chapter 2 Conservation of Energy

7 v=0

8 dx = -a/n

9 t=0

10 for i in range(n):

11 y_old = y

12 x = x+dx

13 y = c1*x+c2*x**2+c3*x**3

14 dy = y-y_old

15 v_avg = (math.sqrt(2*g*(b-y_old))+math.sqrt(2*g*(b-y)))/2.

16 ds = math.sqrt(dx**2+dy**2) # Pythagorean thm.

17 dt=ds/v_avg

18 t=t+dt

19 return t

As a ﬁrst guess, we could try a straight diagonal line, n = r,

which corresponds to setting c

1

= 1, and all the other coeﬃcients to

zero. The result is a fairly long time:

>>> a=1.

>>> b=1.

>>> n=10000

>>> c1=1.

>>> c2=0.

>>> timeb(a,b,c1,c2,n)

0.63887656499994161

What we really need is a curve that’s very steep on the right, and

ﬂatter on the left, so it would actually make more sense to try n = r

3

:

>>> c1=0.

>>> c2=0.

>>> timeb(a,b,c1,c2,n)

0.59458339947087069

This is a signiﬁcant improvement, and turns out to be only a hun-

dredth of a second oﬀ of the shortest possible time! It’s possible,

although not very educational or entertaining, to ﬁnd better ap-

proximations to the brachistochrone curve by ﬁddling around with

the coeﬃcients of the polynomial by hand. The real point of this

discussion was to give an example of a nontrivial problem that can

be attacked successfully with numerical techniques. I found the ﬁrst

approximation shown in ﬁgure a,

n = (0.62)r + (−0.93)r

2

+ (1.31)r

3

by using the program listed in appendix 2 on page 847 to search

automatically for the optimal curve. The seventh-order approxima-

tion shown in the ﬁgure came from a straightforward extension of

the same program.

Section 2.2 Numerical Techniques 93

a / An ellipse is circle that has

been distorted by shrinking and

stretching along perpendicular

axes.

b / An ellipse can be con-

structed by tying a string to two

pins and drawing like this with a

pencil stretching the string taut.

Each pin constitutes one focus of

the ellipse.

c / If the time interval taken

by the planet to move from P to Q

is equal to the time interval from

R to S, then according to Kepler’s

equal-area law, the two shaded

areas are equal. The planet

is moving faster during time

interval RS than it was during

PQ, because gravitational energy

has been transformed into kinetic

energy.

2.3 Gravitational Phenomena

Cruise your radio dial today and try to ﬁnd any popular song that

would have been imaginable without Louis Armstrong. By introduc-

ing solo improvisation into jazz, Armstrong took apart the jigsaw

puzzle of popular music and ﬁt the pieces back together in a dif-

ferent way. In the same way, Newton reassembled our view of the

universe. Consider the titles of some recent physics books written

for the general reader: The God Particle, Dreams of a Fi-

nal Theory. When the subatomic particle called the neutrino was

recently proven for the ﬁrst time to have mass, specialists in cos-

mology began discussing seriously what eﬀect this would have on

calculations of the evolution of the universe from the Big Bang to

its present state. Without the English physicist Isaac Newton, such

attempts at universal understanding would not merely have seemed

ambitious, they simply would not have occurred to anyone.

This section is about Newton’s theory of gravity, which he used

to explain the motion of the planets as they orbited the sun. Newton

tosses oﬀ a general treatment of motion in the ﬁrst 20 pages of his

Mathematical Principles of Natural Philosophy, and then

spends the next 130 discussing the motion of the planets. Clearly

he saw this as the crucial scientiﬁc focus of his work. Why? Because

in it he showed that the same laws of nature applied to the heavens

as to the earth, and that the gravitational interaction that made

an apple fall was the same as the as the one that kept the earth’s

motion from carrying it away from the sun.

2.3.1 Kepler’s laws

Newton wouldn’t have been able to ﬁgure out why the planets

move the way they do if it hadn’t been for the astronomer Tycho

Brahe (1546-1601) and his protege Johannes Kepler (1571-1630),

who together came up with the ﬁrst simple and accurate description

of how the planets actually do move. The diﬃculty of their task is

suggested by the ﬁgure below, which shows how the relatively simple

orbital motions of the earth and Mars combine so that as seen from

earth Mars appears to be staggering in loops like a drunken sailor.

Brahe, the last of the great naked-eye astronomers, collected ex-

tensive data on the motions of the planets over a period of many

years, taking the giant step from the previous observations’ accuracy

of about 10 minutes of arc (10/60 of a degree) to an unprecedented

1 minute. The quality of his work is all the more remarkable consid-

ering that his observatory consisted of four giant brass protractors

mounted upright in his castle in Denmark. Four diﬀerent observers

would simultaneously measure the position of a planet in order to

check for mistakes and reduce random errors.

With Brahe’s death, it fell to his former assistant Kepler to try

to make some sense out of the volumes of data. After 900 pages of

94 Chapter 2 Conservation of Energy

d / As the earth and Mars revolve

around the sun at different rates,

the combined effect of their mo-

tions makes Mars appear to trace

a strange, looped path across the

background of the distant stars.

calculations and many false starts and dead-end ideas, Kepler ﬁnally

synthesized the data into the following three laws:

Kepler’s elliptical orbit law: The planets orbit the sun in

elliptical orbits with the sun at one focus.

Kepler’s equal-area law: The line connecting a planet to the

sun sweeps out equal areas in equal amounts of time.

Kepler’s law of periods: The time required for a planet to orbit

the sun, called its period, T, is proportional to the long axis of the

ellipse raised to the 3/2 power. The constant of proportionality

is the same for all the planets.

Although the planets’ orbits are ellipses rather than circles, most

are very close to being circular. The earth’s orbit, for instance, is

only ﬂattened by 1.7% relative to a circle. In the special case of a

planet in a circular orbit, the two foci (plural of “focus”) coincide

at the center of the circle, and Kepler’s elliptical orbit law thus says

that the circle is centered on the sun. The equal-area law implies

that a planet in a circular orbit moves around the sun with constant

speed. For a circular orbit, the law of periods then amounts to a

statement that the time for one orbit is proportional to :

3/2

, where

: is the radius. If all the planets were moving in their orbits at the

same speed, then the time for one orbit would simply depend on

the circumference of the circle, so it would only be proportional to

: to the ﬁrst power. The more drastic dependence on :

3/2

means

that the outer planets must be moving more slowly than the inner

planets.

Our main focus in this section will be to use the law of periods

Section 2.3 Gravitational Phenomena 95

e / A cannon ﬁres cannon-

balls at different velocities, from

the top of an imaginary mountain

that rises above the earth’s atmo-

sphere. This is almost the same

as a ﬁgure Newton included in his

Mathematical Principles.

to deduce the general equation for gravitational energy. The equal-

area law turns out to be a statement on conservation of angular

momentum, which is discussed in chapter 4. We’ll demonstrate

the elliptical orbit law numerically in chapter 3, and analytically in

chapter 4.

2.3.2 Circular orbits

Kepler’s laws say that planets move along elliptical paths (with

circles as a special case), which would seem to contradict the proof

on page 88 that objects moving under the inﬂuence of gravity have

parabolic trajectories. Kepler was right. The parabolic path was

really only an approximation, based on the assumption that the

gravitational ﬁeld is constant, and that vertical lines are all parallel.

In ﬁgure e, trajectory 1 is an ellipse, but it gets chopped oﬀ when

the cannonball hits the earth, and the small piece of it that is above

ground is nearly indistinguishable from a parabola. Our goal is

to connect the previous calculation of parabolic trajectories, n =

(o´2·

2

)r

2

, with Kepler’s data for planets orbiting the sun in nearly

circular orbits. Let’s start by thinking in terms of an orbit that

circles the earth, like orbit 2 in ﬁgure e. It’s more natural now

to choose a coordinate system with its origin at the center of the

earth, so the parabolic approximation becomes n = : − (o´2·

2

)r

2

,

where : is the distance from the center of the earth. For small

values of r, i.e., when the cannonball hasn’t traveled very far from

the muzzle of the gun, the parabola is still a good approximation

to the actual circular orbit, deﬁned by the Pythagorean theorem,

:

2

= r

2

+n

2

, or n = :

1 −r

2

´:

2

. For small values of r, we can use

the approximation

√

1 + c ≈ 1+c´2 to ﬁnd n ≈ :−(1´2:)r

2

. Setting

this equal to the equation of the parabola, we have o´2·

2

= (1´2:),

or

· =

√

o: [condition for a circular orbit] .

Low-earth orbit example 13

To get a feel for what this all means, let’s calculate the velocity

required for a satellite in a circular low-earth orbit. Real low-earth-

orbit satellites are only a few hundred km up, so for purposes of

rough estimation we can take r to be the radius of the earth, and

g is not much less than its value on the earth’s surface, 10 m/s

2

.

Taking numerical data from Appendix 5, we have

v =

√

gr

=

(10 m´s

2

)(6.4 10

3

km)

=

(10 m´s

2

)(6.4 10

6

m)

=

6.4 10

7

m

2

´s

2

= 8000 m/s

(about twenty times the speed of sound).

96 Chapter 2 Conservation of Energy

In one second, the satellite moves 8000 m horizontally. Dur-

ing this time, it drops the same distance any other object would:

about 5 m. But a drop of 5 m over a horizontal distance of 8000

m is just enough to keep it at the same altitude above the earth’s

curved surface.

2.3.3 The sun’s gravitational ﬁeld

We can now use the circular orbit condition · =

√

o:, combined

with Kepler’s law of periods, T ∝ :

3/2

for circular orbits, to deter-

mine how the sun’s gravitational ﬁeld falls oﬀ with distance.

8

From

there, it will be just a hop, skip, and a jump to get to a universal

description of gravitational interactions.

The velocity of a planet in a circular orbit is proportional to

:´T, so

:´T ∝

√

o:

:´:

3/2

∝

√

o:

o ∝ 1´:

2

If gravity behaves systematically, then we can expect the same to

be true for the gravitational ﬁeld created by any object, not just the

sun.

There is a subtle point here, which is that so far, : has just meant

the radius of a circular orbit, but what we have come up with smells

more like an equation that tells us the strength of the gravitational

ﬁeld made by some object (the sun) if we know how far we are from

the object. In other words, we could reinterpret : as the distance

from the sun.

2.3.4 Gravitational energy in general

We now want to ﬁnd an equation for the gravitational energy of

any two masses that attract each other from a distance :. We assume

that : is large enough compared to the distance between the objects

so that we don’t really have to worry about whether : is measured

from center to center or in some other way. This would be a good

approximation for describing the solar system, for example, since

the sun and planets are small compared to the distances between

them — that’s why you see Venus (the “evening star”) with your

bare eyes as a dot, not a disk.

The equation we seek is going to give the gravitational energy,

l, as a function of :

1

, :

2

, and :. We already know from expe-

rience with gravity near the earth’s surface that l is proportional

8

There is a hidden assumption here, which is that the sun doesn’t move.

Actually the sun wobbles a little because of the planets’ gravitational interactions

with it, but the wobble is small due to the sun’s large mass, so it’s a pretty good

approximation to assume the sun is stationary. Chapter 3 provides the tools to

analyze this sort of thing completely correctly — see p. 138.

Section 2.3 Gravitational Phenomena 97

f / The gravitational energy

U = −Gm

1

m

2

´r graphed as a

function of r .

g / Cavendish’s original draw-

ing of the apparatus for his

experiment, discussed in exam-

ple 14. The room was sealed

to exclude air currents, and the

motion was observed through

telescopes sticking through holes

in the walls.

to the mass of the object that interacts with the earth gravitation-

ally, so it makes sense to assume the relationship is symmetric: l is

presumably proportional to the product :

1

:

2

. We can no longer

assume ∆l ∝ ∆:, as in the earth’s-surface equation ∆l = :o∆n,

since we are trying to construct an equation that would be valid

for all values of :, and o depends on :. We can, however, con-

sider an inﬁnitesimally small change in distance d:, for which we’ll

have dl = :

2

o

1

d:, where o

1

is the gravitational ﬁeld created by

:

1

. (We could just as well have written this as dl = :

1

o

2

d:, since

we’re not assuming either mass is “special” or “active.”) Integrating

this equation, we have

dl =

:

2

o

1

d:

l = :

2

o

1

d:

l ∝ :

1

:

2

1

:

2

d:

l ∝ −

:

1

:

2

:

,

where we’re free to take the constant of integration to be equal to

zero, since gravitational energy is never a well-deﬁned quantity in

absolute terms. Writing G for the constant of proportionality, we

have the following fundamental description of gravitational interac-

tions:

l = −

G:

1

:

2

:

[gravitational energy of two masses separated by a distance :]

We’ll refer to this as Newton’s law of gravity, although in reality

he stated it in an entirely diﬀerent form, which turns out to be

mathematically equivalent to this one.

Let’s interpret his result. First, don’t get hung up on the fact

that it’s negative, since it’s only diﬀerences in gravitational energy

that have physical signiﬁcance. The graph in ﬁgure f could be shifted

up or down without having any physical eﬀect. The slope of this

graph relates to the strength of the gravitational ﬁeld. For instance,

suppose ﬁgure f is a graph of the gravitational energy of an asteroid

interacting with the sun. If the asteroid drops straight toward the

sun, from A to B, the decrease in gravitational energy is very small,

so it won’t speed up very much during that motion. Points C and

D, however, are in a region where the graph’s slope is much greater.

As the asteroid moves from C to D, it loses a lot of gravitational

energy, and therefore speeds up considerably.

Determining G example 14

The constant G is not easy to determine, and Newton went to his

grave without knowing an accurate value for it. If we knew the

98 Chapter 2 Conservation of Energy

i / The Pioneer 10 space probe’s

trajectory from 1974 to 1992,

with circles marking its position

at one-year intervals. After its

1974 slingshot maneuver around

Jupiter, the probe’s motion was

determined almost exclusively by

the sun’s gravity.

h / A simpliﬁed drawing of the

Cavendish experiment, viewed

from above. The rod with the two

small masses on the ends hangs

from a thin ﬁber, and is free to

rotate.

mass of the earth, then we could easily determine G from exper-

iments with terrestrial gravity, but the only way to determine the

mass of the earth accurately in units of kilograms is by ﬁnding G

and reasoning the other way around! (If you estimate the average

density of the earth, you can make at least a rough estimate of

G.) Figures g and h show how G was ﬁrst measured by Henry

Cavendish in the nineteenth century.The rotating arm is released

from rest, and the kinetic energy of the two moving balls is mea-

sured when they pass position C. Conservation of energy gives

−2

GMm

r

BA

−2

GMm

r

BD

= −2

GMm

r

CA

−2

GMm

r

CD

+ 2K ,

where M is the mass of one of the large balls, m is the mass of

one of the small ones, and the factors of two, which will cancel,

occur because every energy is mirrored on the opposite side of

the apparatus. (As discussed on page 100, it turns out that we get

the right result by measuring all the distances from the center of

one sphere to the center of the other.) This can easily be solved

for G. The best modern value of G, from modern versions of the

same experiment, is 6.67 10

−11

J m´kg

2

.

Escape velocity example 15

> The Pioneer 10 space probe was launched in 1972, and contin-

ued sending back signals for 30 years. In the year 2001, not long

before contact with the probe was lost, it was about 1.2 10

13

m

from the sun, and was moving almost directly away from the sun

at a velocity of 1.2110

4

m. The mass of the sun is 1.9910

30

kg.

Will Pioneer 10 escape permanently, or will it fall back into the so-

lar system?

> We want to know whether there will be a point where the probe

will turn around. If so, then it will have zero kinetic energy at the

turnaround point:

K

i

+ U

i

= U

f

1

2

mv

2

−

GMm

r

i

= −

GMm

r

f

1

2

v

2

−

GM

r

i

= −

GM

r

f

,

where M is the mass of the sun, m is the (irrelevant) mass of

the probe, and r

f

is the distance from the sun of the hypothetical

turnaround point. Plugging in numbers on the left, we get a posi-

tive result. There can therefore be no solution, since the right side

is negative. There won’t be any turnaround point, and Pioneer 10

is never coming back.

The minimum velocity required for this to happen is called es-

cape velocity. For speeds above escape velocity, the orbits are

open-ended hyperbolas, rather than repeating elliptical orbits. In

Section 2.3 Gravitational Phenomena 99

ﬁgure i, Pioneer’s hyperbolic trajectory becomes almost indistin-

guishable from a line at large distances from the sun. The motion

slows perceptibly in the ﬁrst few years after 1974, but later the

speed becomes nearly constant, as shown by the nearly constant

spacing of the dots.

By the way, Pioneer 10 and 11 have shown some behavior that

some scientists have interpreted as indicating small deviations from

the expected −G:

1

:

2

´: behavior of the gravitational energy. For

more information, see the Wikipedia article “Pioneer anomaly.”

The gravitational ﬁeld

We got the energy equation l = −G:

1

:

2

´: by integrating

o ∝ 1´:

2

and then inserting a constant of proportionality to make

the proportionality into an equation. The opposite of an integral is

a derivative, so we can now go backwards and insert a constant of

proportionality in o ∝ 1´:

2

that will be consistent with the energy

equation:

dl = :

2

o

1

d:

o

1

=

1

:

2

dl

d:

=

1

:

2

d

d:

−

G:

1

:

2

:

= −G:

1

d

d:

1

:

=

G:

1

:

2

This kind of inverse-square law occurs all the time in nature. For

instance, if you go twice as far away from a lightbulb, you receive

1/4 as much light from it, because as the light spreads out, it is

like an expanding sphere, and a sphere with twice the radius has

four times the surface area. It’s like spreading the same amount of

peanut butter on four pieces of bread instead of one — we have to

spread it thinner.

Discussion Questions

A A bowling ball interacts gravitationally with the earth. Would it

make sense for the gravitational energy to be inversely proportional to the

distance between their surfaces rather than their centers?

2.3.5 The shell theorem

Newton’s great insight was that gravity near the earth’s surface

was the same kind of interaction as the one that kept the planets

from ﬂying away from the sun. He told his niece that the idea

came to him when he saw an apple fall from a tree, which made him

wonder whether the earth might be aﬀecting the apple and the moon

in the same way. Up until now, we’ve generally been dealing with

gravitational interactions between objects that are small compared

100 Chapter 2 Conservation of Energy

j / A spherical shell of mass

M interacts with a pointlike mass

m.

to the distances between them, but that assumption doesn’t apply to

the apple. A kilogram of dirt a few feet under his garden in England

would interact much more strongly with the apple than a kilogram

of molten rock deep under Australia, thousands of miles away. Also,

we know that the earth has some parts that are more dense, and

some parts that are less dense. The solid crust, on which we live,

is considerably less dense than the molten rock on which it ﬂoats.

By all rights, the computation of the total gravitational energy of

the apple should be a horrendous mess. Surprisingly, it turns out to

be fairly simple in the end. First, we note that although the earth

doesn’t have the same density throughout, it does have spherical

symmetry: if we imagine dividing it up into thin concentric shells,

the density of each shell is uniform.

Second, it turns out that a uniform spherical shell interacts with

external masses as if all its mass was concentrated at its center.

The shell theorem: The gravitational energy of a uniform spher-

ical shell of mass ` interacting with a pointlike mass : outside it

equals −G`:´:, where : is the center-to-center distance. If mass

: is inside the shell, then the energy is constant, i.e., the shell’s

interior gravitational ﬁeld is zero.

Proof: Let / be the radius of the shell, / its thickness, and ρ

its density. Its volume is then \ =(area)(thickness)=4π/

2

/, and

its mass is ` = ρ\ = 4πρ/

2

/. The strategy is to divide the

shell up into rings as shown in ﬁgure j, with each ring extending

from θ to θ + dθ. Since the ring is inﬁnitesimally skinny, its en-

tire mass lies at the same distance, :, from mass :. The width of

such a ring is found by the deﬁnition of radian measure to be n =

/dθ, and its mass is d` = (ρ)(circumference)(thickness)(width)=

(ρ)(2π/ sin θ)(/)(/dθ)=2π/

2

/sin θdθ. The gravitational energy of

the ring interacting with mass : is therefore

dl = −

G:d`

:

= −2πGρ/

2

/:

sin θdθ

:

.

Integrating both sides, we ﬁnd the total gravitational energy of the

shell:

l = −2πGρ/

2

/:

π

0

sin θdθ

:

The integral has a mixture of the variables : and θ, which are related

by the law of cosines,

:

2

= /

2

+ :

2

−2/: cos θ ,

and to evaluate the integral, we need to get everything in terms of ei-

ther : and d: or θ and dθ. The relationship between the diﬀerentials

Section 2.3 Gravitational Phenomena 101

k / The gravitational energy

of a mass m at a distance s from

the center of a hollow spherical

shell of mass.

is found by diﬀerentiating the law of cosines,

2:d: = 2/: sin θdθ ,

and since sin θdθ occurs in the integral, the easiest path is to sub-

stitute for it, and get everything in terms of : and d::

l = −

2πGρ//:

:

s+b

s−b

d:

= −

4πGρ/

2

/:

:

= −

G`:

:

This was all under the assumption that mass : was on the outside

of the shell. To complete the proof, we consider the case where it’s

inside. In this case, the only change is that the limits of integration

are diﬀerent:

l = −

2πGρ//:

:

b+s

b−s

d:

= −4πGρ//:

= −

G`:

/

The two results are equal at the surface of the sphere, : = /,

so the constant-energy part joins continuously onto the 1´: part,

and the eﬀect is to chop oﬀ the steepest part of the graph that we

would have had if the whole mass ` had been concentrated at its

center. Dropping a mass : from A to B in ﬁgure k releases the

same amount of energy as if mass ` had been concentrated at its

center, but there is no release of gravitational energy at all when

moving between two interior points like C and D. In other words,

the internal gravitational ﬁeld is zero. Moving from C to D brings

mass : farther away from the nearby side of the shell, but closer

to the far side, and the cancellation between these two eﬀects turns

out to be perfect. Although the gravitational ﬁeld has to be zero

at the center due to symmetry, it’s much more surprising that it

cancels out perfectly in the whole interior region; this is a special

mathematical characteristic of a 1´: interaction like gravity.

Newton’s apple example 16

Over a period of 27.3 days, the moon travels the circumference

of its orbit, so using data from Appendix 5, we can calculate its

speed, and solve the circular orbit condition to determine the

strength of the earth’s gravitational ﬁeld at the moon’s distance

from the earth, g = v

2

´r = 2.72 10

−3

m´s

2

, which is 3600

times smaller than the gravitational ﬁeld at the earth’s surface.

The center-to-center distance from the moon to the earth is 60

times greater than the radius of the earth. The earth is, to a very

102 Chapter 2 Conservation of Energy

good approximation, a sphere made up of concentric shells, each

with uniform density, so the shell theorem tells us that its external

gravitational ﬁeld is the same as if all its mass was concentrated

at its center. We already know that a gravitational energy that

varies as −1´r is equivalent to a gravitational ﬁeld proportional to

1´r

2

, so it makes sense that a distance that is greater by a fac-

tor of 60 corresponds to a gravitational ﬁeld that is 60 60=3600

times weaker. Note that the calculation didn’t require knowledge

of the earth’s mass or the gravitational constant, which Newton

didn’t know.

In 1665, shortly after Newton graduated from Cambridge, the

Great Plague forced the college to close for two years, and New-

ton returned to the family farm and worked intensely on scientiﬁc

problems. During this productive period, he carried out this calcu-

lation, but it came out wrong, causing him to doubt his new theory

of gravity. The problem was that during the plague years, he was

unable to use the university’s library, so he had to use a ﬁgure for

the radius of the moon’s orbit that he had memorized, and he for-

got that the memorized value was in units of nautical miles rather

than statute miles. Once he realized his mistake, he found that

the calculation came out just right, and became conﬁdent that his

theory was right after all.

9

Weighing the earth example 17

> Once Cavendish had found G = 6.67 10

−11

J m´kg

2

(p. 98,

example 14), it became possible to determine the mass of the

earth. By the shell theorem, the gravitational energy of a mass

m at a distance r from the center of the earth is U = −GMm´r ,

where M is the mass of the earth. The gravitational ﬁeld is related

to this by mgdr = dU, or g = (1´m)dU´dr = GM´r

2

. Solving for

M, we have

M = gr

2

´G

=

(9.8 m´s

2

)(6.4 10

6

m)

2

6.67 10

−11

J m´kg

2

= 6.0 10

24

m

2

kg

2

J s

2

= 6.0 10

24

kg

Gravity inside the earth example 18

> The earth is somewhat more dense at greater depths, but as an

approximation let’s assume it has a constant density throughout.

9

Some historians are suspicious that the story of the apple and the mistake

in conversions may have been fabricated by Newton later in life. The conversion

incident may have been a way of explaining his long delay in publishing his work,

which led to a conﬂict with Leibniz over priority in the invention of calculus.

Section 2.3 Gravitational Phenomena 103

l / The actual trajectory of

the Apollo 11 spacecraft, A, and

the straight-line trajectory, B,

assumed in the example.

How does its internal gravitational ﬁeld vary with the distance r

from the center?

> Let’s write b for the radius of the earth. The shell theorem tell us

that at a given location r , we only need to consider the mass M

<r

that is deeper than r . Under the assumption of constant density,

this mass is related to the total mass of the earth by

M

<r

M

=

r

3

b

3

,

and by the same reasoning as in example 17,

g =

GM

<r

r

2

,

so

g =

GMr

b

3

.

In other words, the gravitational ﬁeld interpolates linearly between

zero at r = 0 and its ordinary surface value at r = b.

The following example applies the numerical techniques of sec-

tion 2.2.

From the earth to the moon example 19

The Apollo 11 mission landed the ﬁrst humans on the moon in

1969. In this example, we’ll estimate the time it took to get to

the moon, and compare our estimate with the actual time, which

was 73.0708 hours from the engine burn that took the ship out of

earth orbit to the engine burn that inserted it into lunar orbit. Dur-

ing this time, the ship was coasting with the engines off, except

for a small course-correction burn, which we neglect. More im-

portantly, we do the calculation for a straight-line trajectory rather

than the real S-shaped one, so the result can only be expected

to agree roughly with what really happened. The following data

come from the original press kit, which NASA has scanned and

posted on the Web:

initial altitude 3.363 10

5

m

initial velocity 1.083 10

4

m/s

The endpoint of the the straight-line trajectory is a free-fall im-

pact on the lunar surface, which is also unrealistic (luckily for the

astronauts).

The ship’s energy is

E = −

GM

e

m

r

−

GM

m

m

r

m

−r

+

1

2

mv

2

,

but since everything is proportional to the mass of the ship, m, we

can divide it out

E

m

= −

GM

e

r

−

GM

m

r

m

−r

+

1

2

v

2

,

104 Chapter 2 Conservation of Energy

and the energy variables in the program with names like e, k, and

u are actually energies per unit mass. The program is a straight-

forward modiﬁcation of the function time3 on page 91.

1 import math

2 def tmoon(vi,ri,rf,n):

3 bigg=6.67e-11 # gravitational constant

4 me=5.97e24 # mass of earth

5 mm=7.35e22 # mass of moon

6 rm=3.84e8 # earth-moon distance

7 r=ri

8 v=vi

9 dr = (rf-ri)/n

10 e=-bigg*me/ri-bigg*mm/(rm-ri)+.5*vi**2

11 t=0

12 for i in range(n):

13 u_old = -bigg*me/r-bigg*mm/(rm-r)

14 k_old = e - u_old

15 v_old = math.sqrt(2.*k_old)

16 r = r+dr

17 u = -bigg*me/r-bigg*mm/(rm-r)

18 k = e - u

19 v = math.sqrt(2.*k)

20 v_avg = .5*(v_old+v)

21 dt=dr/v_avg

22 t=t+dt

23 return t

>>> re=6.378e6 # radius of earth

>>> rm=1.74e6 # radius of moon

>>> ri=re+3.363e5 # re+initial altitude

>>> rf=3.8e8-rm # earth-moon distance minus rm

>>> vi=1.083e4 # initial velocity

>>> tmoon(vi,ri,rf,1000)/3600. # convert seconds to hours

59.654047441976552

This is pretty decent agreement, considering the wildly inaccurate

trajectory assumed. It’s interesting to see how much the duration

of the trip changes if we increase the initial velocity by only ten

percent:

>>> vi=1.2e4

>>> tmoon(vi,ri,rf,1000)/3600.

18.177752636111677

The most important reason for using the lower speed was that

if something had gone wrong, the ship would have been able to

whip around the moon and take a “free return” trajectory back to

Section 2.3 Gravitational Phenomena 105

the earth, without having to do any further burns. At a higher

speed, the ship would have had so much kinetic energy that in

the absence of any further engine burns, it would have escaped

from the earth-moon system. The Apollo 13 mission had to take a

free return trajectory after an explosion crippled the spacecraft.

2.3.6 Evidence for repulsive gravity

Until recently, physicists thought they understood gravity fairly

well. Einstein had modiﬁed Newton’s theory, but certain character-

istrics of gravitational forces were ﬁrmly established. For one thing,

they were always attractive. If gravity always attracts, then it is

logical to ask why the universe doesn’t collapse. Newton had an-

swered this question by saying that if the universe was inﬁnite in

all directions, then it would have no geometric center toward which

it would collapse; the forces on any particular star or planet ex-

erted by distant parts of the universe would tend to cancel out by

symmetry. More careful calculations, however, show that Newton’s

universe would have a tendency to collapse on smaller scales: any

part of the universe that happened to be slightly more dense than

average would contract further, and this contraction would result

in stronger gravitational forces, which would cause even more rapid

contraction, and so on.

When Einstein overhauled gravity, the same problem reared its

ugly head. Like Newton, Einstein was predisposed to believe in a

universe that was static, so he added a special repulsive term to his

equations, intended to prevent a collapse. This term was not associ-

ated with any attraction of mass for mass, but represented merely an

overall tendency for space itself to expand unless restrained by the

matter that inhabited it. It turns out that Einstein’s solution, like

Newton’s, is unstable. Furthermore, it was soon discovered observa-

tionally that the universe was expanding, and this was interpreted

by creating the Big Bang model, in which the universe’s current

expansion is the aftermath of a fantastically hot explosion.

10

An

expanding universe, unlike a static one, was capable of being ex-

plained with Einstein’s equations, without any repulsion term. The

universe’s expansion would simply slow down over time due to the

attractive gravitational forces. After these developments, Einstein

said woefully that adding the repulsive term, known as the cosmo-

logical constant, had been the greatest blunder of his life.

This was the state of things until 1999, when evidence began to

turn up that the universe’s expansion has been speeding up rather

than slowing down! The ﬁrst evidence came from using a telescope

as a sort of time machine: light from a distant galaxy may have

taken billions of years to reach us, so we are seeing it as it was far

in the past. Looking back in time, astronomers saw the universe

expanding at speeds that ware lower, rather than higher. At ﬁrst

10

Section 6.1.5, p. 342 presents some of the evidence for the Big Bang.

106 Chapter 2 Conservation of Energy

they were mortiﬁed, since this was exactly the opposite of what had

been expected. The statistical quality of the data was also not good

enough to constute ironclad proof, and there were worries about sys-

tematic errors. The case for an accelerating expansion has however

been nailed down by high-precision mapping of the dim, sky-wide

afterglow of the Big Bang, known as the cosmic microwave back-

ground. Some theorists have proposed reviving Einstein’s cosmo-

logical constant to account for the acceleration, while others believe

it is evidence for a mysterious form of matter which exhibits gravi-

tational repulsion. The generic term for this unknown stuﬀ is “dark

energy.”

As of 2008, most of the remaining doubt about the repulsive ef-

fect has been dispelled. During the past decade or so, astronomers

consider themselves to have entered a new era of high-precision cos-

mology. The cosmic microwave background measurements, for ex-

ample, have measured the age of the universe to be 13.7±0.2 billion

years, a ﬁgure that could previously be stated only as a fuzzy range

from 10 to 20 billion. We know that only 4% of the universe is

atoms, with another 23% consisting of unknown subatomic parti-

cles, and 73% of dark energy. It’s more than a little ironic to know

about so many things with such high precision, and yet to know

virtually nothing about their nature. For instance, we know that

precisely 96% of the universe is something other than atoms, but we

know precisely nothing about what that something is.

m / The WMAP probe’s map

of the cosmic microwave back-

ground is like a “baby picture” of

the universe.

2.4 Atomic Phenomena

Variety is the spice of life, not of science. So far this chapter has

focused on heat energy, kinetic energy, and gravitational energy,

but it might seem that in addition to these there is a bewildering

array of other forms of energy. Gasoline, chocolate bars, batteries,

melting water — in each case there seems to be a whole new type

of energy. The physicist’s psyche rebels against the prospect of a

Section 2.4 Atomic Phenomena 107

a / A vivid demonstration that

heat is a form of motion. A small

amount of boiling water is poured

into the empty can, which rapidly

ﬁlls up with hot steam. The can

is then sealed tightly, and soon

crumples.

b / Random motion of atoms

in a gas, a liquid, and a solid.

long laundry list of types of energy, each of which would require

its own equations, concepts, notation, and terminology. The point

at which we’ve arrived in the study of energy is analogous to the

period in the 1960’s when a half a dozen new subatomic particles

were being discovered every year in particle accelerators. It was an

embarrassment. Physicists began to speak of the “particle zoo,”

and it seemed that the subatomic world was distressingly complex.

The particle zoo was simpliﬁed by the realization that most of the

new particles being whipped up were simply clusters of a previously

unsuspected set of fundamental particles (which were whimsically

dubbed quarks, a made-up word from a line of poetry by James

Joyce, “Three quarks for Master Mark.”) The energy zoo can also

be simpliﬁed, and it’s the purpose of this section to demonstrate the

hidden similarities between forms of energy as seemingly diﬀerent

as heat and motion.

2.4.1 Heat is kinetic energy.

What is heat really? Is it an invisible ﬂuid that your bare feet

soak up from a hot sidewalk? Can one ever remove all the heat from

an object? Is there a maximum to the temperature scale?

The theory of heat as a ﬂuid seemed to explain why colder ob-

jects absorbed heat from hotter ones, but once it became clear that

heat was a form of energy, it began to seem unlikely that a material

substance could transform itself into and out of all those other forms

of energy like motion or light. For instance, a compost pile gets hot,

and we describe this as a case where, through the action of bacteria,

chemical energy stored in the plant cuttings is transformed into heat

energy. The heating occurs even if there is no nearby warmer object

that could have been leaking “heat ﬂuid” into the pile.

An alternative interpretation of heat was suggested by the theory

that matter is made of atoms. Since gases are thousands of times less

dense than solids or liquids, the atoms (or clusters of atoms called

molecules) in a gas must be far apart. In that case, what is keeping

all the air molecules from settling into a thin ﬁlm on the ﬂoor of the

room in which you are reading this book? The simplest explanation

is that they are moving very rapidly, continually ricocheting oﬀ of

the ﬂoor, walls, and ceiling. Though bizarre, the cloud-of-bullets

image of a gas did give a natural explanation for the surprising

ability of something as tenuous as a gas to exert huge forces.

The experiment shown in ﬁgure a, for instance, can be explained

as follows. The high temperature of the steam is interpreted as a

high average speed of random motions of its molecules. Before the

lid was put on the can, the rapidly moving steam molecules pushed

their way out of the can, forcing the slower air molecules out of the

way. As the steam inside the can thinned out, a stable situation

was soon achieved, in which the force from the less dense steam

molecules moving at high speed balanced against the force from the

108 Chapter 2 Conservation of Energy

c / The spring’s energy is re-

ally due to electrical interactions

among atoms.

d / All these energy transfor-

mations turn out at the atomic

level to be due to changes in the

distances between atoms that

interact electrically.

more dense but slower air molecules outside. The cap was put on,

and after a while the steam inside the can began to cool oﬀ. The

force from the cooler, thin steam no longer matched the force from

the cool, dense air outside, and the imbalance of forces crushed the

can.

This type of observation leads naturally to the conclusion that

hotter matter diﬀers from colder in that its atoms’ random motion is

more rapid. In a liquid, the motion could be visualized as people in a

milling crowd shoving past each other more quickly. In a solid, where

the atoms are packed together, the motion is a random vibration of

each atom as it knocks against its neighbors.

We thus achieve a great simpliﬁcation in the theory of heat. Heat

is simply a form of kinetic energy, the total kinetic energy of random

motion of all the atoms in an object. With this new understanding,

it becomes possible to answer at one stroke the questions posed

at the beginning of the section. Yes, it is at least theoretically

possible to remove all the heat from an object. The coldest possible

temperature, known as absolute zero, is that at which all the atoms

have zero velocity, so that their kinetic energies, 1 = (1´2):·

2

, are

all zero. No, there is no maximum amount of heat that a certain

quantity of matter can have, and no maximum to the temperature

scale, since arbitrarily large values of · can create arbitrarily large

amounts of kinetic energy per atom.

The kinetic theory of heat also provides a simple explanation of

the true nature of temperature. Temperature is a measure of the

amount of energy per molecule, whereas heat is the total amount of

energy possessed by all the molecules in an object.

There is an entire branch of physics, called thermodynamics,

that deals with heat and temperature and forms the basis for tech-

nologies such as refrigeration. Thermodynamics is discussed in more

detail in chapter 5, and I’ve provided here only a brief overview of

the thermodynamic concepts that relate directly to energy.

2.4.2 All energy comes from particles moving or interacting.

If I stretch the spring in ﬁgure c and then release it, it snaps taut

again. The creation of some kinetic energy shows that there must

have been some other form of energy that was destroyed. What was

it?

We could just invent a new type of energy called “spring energy,”

study its behavior, and call it quits, but that would be ugly. Are

we going to have to invent a new forms of energy like this, over

and over? No: the title of this book doesn’t lie, and physics really

is fundamentally simple. As shown in ﬁgure d, when we bend or

stretch an object, we’re really changing the distances between the

atoms, resulting in a change in electrical energy. Electrical energy

isn’t really our topic right now — that’s what most of the second

Section 2.4 Atomic Phenomena 109

e / This ﬁgure looks similar

to the previous ones, but the

scale is a million times smaller.

The little balls are the neutrons

and protons that make up the

tiny nucleus at the center of a

uranium atom. When the nucleus

splits (ﬁssions), the source of the

kinetic energy is partly electrical

and partly nuclear.

half of this book is about — but conceptually it’s very similar to

gravitational energy. Like gravitational energy, it depends on 1´:,

although there are some interesting new phenomena, such as the

existence of both attraction and repulsion, which doesn’t occur with

gravity because gravitational mass can’t be negative. The real point

is that all the apparently dissimilar forms of energy in ﬁgure d turn

out to be due to electrical interactions among atoms. Even if we

wish to include nuclear reactions (ﬁgure e) in the picture, there still

turn out to be only four fundamental types of energy:

kinetic energy (including heat)

gravitational energy

electrical and magnetic energy

nuclear energy

Astute students have often asked me how light ﬁts into this pic-

ture. This is a very good question, and in fact it could be argued

that it is the basic question that led to Einstein’s theory of relativ-

ity as well as the modern quantum picture of nature. Since these

are topics for the second half of the book, we’ll have to be content

with half an answer at this point. For now, we may think of light

energy as a form of kinetic energy, but one calculated not according

to (1´2):·

2

but by some other equation. (We know that (1´2):·

2

would not make sense, because light has no mass, and furthermore,

high-energy beams of light do not diﬀer in speed from low-energy

ones.)

Temperature during boiling example 20

> If you stick a thermometer in a pan of water, and watch the

temperature as you bring the water to a boil, you’ll notice an in-

teresting fact. The temperature goes up until the boiling point is

reached, but then stays at 100

◦

C during the whole time the water

is being boiled off. The temperature of the steam is also 100

◦

C.

Why does the temperature “stick” like this? What’s happening to

all the energy that the stove’s burner is putting into the pan?

> As shown in ﬁgure d, boiling requires an increase in electrical

energy, because the atoms coming out as gas are moving away

from the other atoms, which attract them electrically. It is only this

electrical energy that is increasing, not the atoms’ kinetic energy,

which is what the thermometer can measure.

Diffusion example 21

> A drop of food coloring in a cup of water will gradually spread

out, even if you don’t do any mixing with a spoon. This is called

diffusion. Why would this happen, and what effect would temper-

ature have? What would happen with solids or gases?

> Figure b shows that the atoms in a liquid mingle because of

their random thermal motion. Diffusion is slow (typically on the

order of a centimeter a minute), despite the high speeds of the

110 Chapter 2 Conservation of Energy

a / The spring has a minimum-

energy length, 1, and energy is

required in order to compress or

stretch it, 2 and 3. A mass at-

tached to the spring will oscillate

around the equilibrium, 4-13.

atoms (typically hundreds of miles per hour). This is due to the

randomness of the motion: a particular atom will take a long time

to travel any signiﬁcant distance, because it doesn’t travel in a

straight line.

Based on this picture, we expect that the speed of diffusion should

increase as a function of temperature, and experiments show that

this is true.

Diffusion also occurs in gases, which is why you can smell things

even when the air is still. The speeds are much faster, because

the typical distance between collisions is much longer than in a

liquid.

We can see from ﬁgure b that diffusion won’t occur in solids, be-

cause each atom vibrates around an equilibrium position.

Discussion Questions

A I’m not making this up. XS Energy Drink has ads that read like this:

All the “Energy” ... Without the Sugar! Only 8 Calories!” Comment on

this.

2.5 Oscillations

Let’s revisit the example of the stretched spring from the previ-

ous section. We know that its energy is a form of electrical energy

of interacting atoms, which is nice conceptually but doesn’t help

us to solve problems, since we don’t know how the energy, l, de-

pends on the length of the spring. All we know is that there’s an

equilibrium (ﬁgure a/1), which is a local minimum of the function

l. An extremely important problem which arises in this connec-

tion is how to calculate oscillatory motion around an equilibrium,

as in a/4-13. Even if we did special experiments to ﬁnd out how the

spring’s energy worked, it might seem like we’d have to go through

just as much work to deal with any other kind of oscillation, such

as a sapling swinging back and forth in the breeze.

Surprisingly, it’s possible to analyze this type of oscillation in a

very general and elegant manner, as long as the analysis is limited

to small oscillations. We’ll talk about the mass on the spring for

concreteness, but there will be nothing in the discussion at all that

is restricted to that particular physical system. First, let’s choose

a coordinate system in which r = 0 corresponds to the position of

the mass where the spring is in equilibrium, and since interaction

energies like l are only well deﬁned up to an additive constant, we’ll

simply deﬁne it to be zero at equilibrium:

l(0) = 0

Since r = 0 is an equilibrium, l(r) must have a local minimum

there, and a diﬀerentiable function (which we assume l is) has a

Section 2.5 Oscillations 111

c / The amplitude would usu-

ally be deﬁned as the distance

from equilibrium to one extreme

of the motion, i.e., half the total

travel.

b / Three functions with the

same curvature at x=0.

zero derivative at a local minimum:

dl

dr

(0) = 0

There are still inﬁnitely many functions that could satisfy these

criteria, including the three shown in ﬁgure b, which are r

2

´2,

r

2

´2(1 +r

2

), and (c

3x

+c

−3x

−2)´18. Note, however, how all three

functions are virtually identical right near the minimum. That’s

because they all have the same curvature. More speciﬁcally, each

function has its second derivative equal to 1 at r = 0, and the sec-

ond derivative is a measure of curvature. We write / for the second

derivative of the energy at an equilibrium point,

d

2

l

dr

2

(0) = / .

Physically, / is a measure of stiﬀness. For example, the heavy-duty

springs in a car’s shock absorbers would have a high value of /. It

is often referred to as the spring constant, but we’re only using a

spring as an example here. As shown in ﬁgure b, any two functions

that have l(0) = 0, dl´dr = 0, and d

2

l´dr

2

= /, with the same

value of /, are virtually indistinguishable for small values of r, so if

we want to analyze small oscillations, it doesn’t even matter which

function we assume. For simplicity, we’ll just use l(r) = (1´2)/r

2

from now on.

Now we’re ready to analyze the mass-on-a-spring system, while

keeping in mind that it’s really only a representative example of

a whole class of similar oscillating systems. We expect that the

motion is going to repeat itself over and over again, and since we’re

not going to include frictional heating in our model, that repetition

should go on forever without dying out. The most interesting thing

to know about the motion would be the period, T, which is the

amount of time required for one complete cycle of the motion. We

might expect that the period would depend on the spring constant,

/, the mass, :, and and the amplitude, ¹, deﬁned in ﬁgure c.

11

In examples like the brachistochrone and the Apollo 11 mission,

it was generally necessary to use numerical techniques to determine

the amount of time required for a certain motion. Once again, let’s

dust oﬀ the time3 function from page 91 and modify it for our

purposes. For ﬂexibility, we’ll deﬁne the function l(r) as a separate

Python function. We really want to calculate the time required for

the mass to come back to its starting point, but that would be

awkward to set up, since our function works by dividing up the

distance to be traveled into tiny segments. By symmetry, the time

required to go from one end to the other equals the time required

to come back to the start, so we’ll just calculate the time for half a

11

Many kinds of oscillations are possible, so there is no standard deﬁnition of

the amplitude. For a pendulum, the natural deﬁnition would be in terms of an

angle. For a radio transmitter, we’d use some kind of electrical units.

112 Chapter 2 Conservation of Energy

cycle and then double it when we return the result at the end of the

function. The test at lines 16-19 is necessary because otherwise at

the very end of the motion we can end up trying to take the square

root of a negative number due to rounding errors.

1 import math

2 def u(k,x):

3 return .5*k*x**2

4

5 def osc(m,k,a,n):

6 x=a

7 v=0

8 dx = -2.*a/n

9 t=0

10 e = u(k,x)+.5*m*v**2

11 for i in range(n):

12 x_old = x

13 v_old = v

14 x = x+dx

15 kinetic = e-u(k,x)

16 if kinetic<0. :

17 v=0.

18 print "warning, K=",kinetic,"<0"

19 else :

20 v = -math.sqrt(2.*kinetic/m)

21 v_avg = (v+v_old)/2.

22 dt=dx/v_avg

23 t=t+dt

24 return 2.*t

>>> osc(1.,1.,1.,100000)

warning, K= -1.43707268307e-12 <0

6.2831854132667919

The ﬁrst thing to notice is that with this particular set of inputs

(:=1 kg, / = 1 J´m

2

, and ¹ = 1 m), the program has done an ex-

cellent job of computing 2π = 6.2831853 . . .. This is Mother Nature

giving us a strong hint that the problem has an algebraic solution,

not just a numerical one. The next interesting thing happens when

we change the amplitude from 1 m to 2 m:

>>> osc(1.,1.,2.,100000)

warning, K= -5.7482907323e-12 <0

6.2831854132667919

Even though the mass had to travel double the distance in each

direction, the period is the same to within the numerical accuracy

of the calculation!

Section 2.5 Oscillations 113

d / Example 22.

With these hints, it seems like we should start looking for an

algebraic solution. For guidance, here’s a graph of r as a function

of t, as calculated by the osc function with n=10.

This looks like a cosine function, so let’s see if a r = ¹cos (ωt+δ)

is a solution to the conservation of energy equation — it’s not un-

common to try to “reverse-engineer” the cryptic results of a numer-

ical calculation like this. The symbol ω = 2π´T (Greek omega) is

a standard symbol for the number of radians per second of oscilla-

tion, and the phase angle δ is to allow for the possibility that t = 0

doesn’t coincide with the beginning of the motion. The energy is

1 = 1 + l

=

1

2

:·

2

+

1

2

/r

2

=

1

2

:

dr

dt

2

+

1

2

/r

2

=

1

2

:[−¹ω sin (ωt + δ)]

2

+

1

2

/ [¹cos (ωt + δ)]

2

=

1

2

¹

2

:ω

2

sin

2

(ωt + δ) + / cos

2

(ωt + δ)

**According to conservation of energy, this has to be a constant. Using
**

the identity sin

2

+cos

2

= 1, we can see that it will be a constant if

we have :ω

2

= /, or ω =

/´:, i.e., T = 2π

**:´/. Note that the
**

period is independent of amplitude.

A spring and a lever example 22

> What is the period of small oscillations of the system shown in

the ﬁgure? Neglect the mass of the lever and the spring. Assume

that the spring is so stiff that gravity is not an important effect.

The spring is relaxed when the lever is vertical.

> This is a little tricky, because the spring constant k, although

it is relevant, is not the k we should be putting into the equation

T = 2π

**m´k. The k that goes in there has to be the second
**

derivative of U with respect to the position, x, of the thing that’s

moving. The energy U stored in the spring depends on how far

the tip of the lever is from the center. This distance equals (L´b)x,

114 Chapter 2 Conservation of Energy

e / Water in a U-shaped tube.

so the energy in the spring is

U =

1

2

k

L

b

x

2

=

kL

2

2b

2

x

2

,

and the k we have to put in T = 2π

m´k is

d

2

U

dx

2

=

kL

2

b

2

.

The result is

T = 2π

mb

2

kL

2

=

2πb

L

m

k

The leverage of the lever makes it as if the spring was stronger,

and decreases the period of the oscillations by a factor of b´L.

Water in a U-shaped tube example 23

> What is the period of oscillation of the water in ﬁgure e?

> In example 12 on p. 87, we found U(y) = ρgAy

2

, so the “spring

constant,” which really isn’t a spring constant here at all, is

k =

d

2

U

dy

2

= 2ρgA .

This is an interesting example, because k can be calculated with-

out any approximations, but the kinetic energy requires an ap-

proximation, because we don’t know the details of the pattern

of ﬂow of the water. It could be very complicated. There will

be a tendency for the water near the walls to ﬂow more slowly

due to friction, and there may also be swirling, turbulent motion.

However, if we make the approximation that all the water moves

with the same velocity as the surface, dy´dt , then the mass-on-

a-spring analysis applies. Letting L be the total length of the ﬁlled

part of the tube, the mass is ρLA, and we have

T = 2π

m´k

= 2π

ρLA

2ρgA

= 2π

L

2g

.

This chapter is summarized on page 882. Notation and terminology

are tabulated on pages 877-878.

Section 2.5 Oscillations 115

Problems

The symbols

√

, , etc. are explained on page 122.

1 Experiments show that the power consumed by a boat’s engine

is approximately proportional to the third power of its speed. (We

assume that it is moving at constant speed.)

(a) When a boat is cruising at constant speed, what type of energy

transformation do you think is being performed?

(b) If you upgrade to a motor with double the power, by what factor

is your boat’s maximum cruising speed increased?

> Solution, p. 870

2 Object A has a kinetic energy of 13.4 J. Object B has a mass

that is greater by a factor of 3.77, but is moving more slowly by a

factor of 2.34. What is object B’s kinetic energy?

> Solution, p. 870

3 My 1.25 kW microwave oven takes 126 seconds to bring 250

g of water from room temperature to a boil. What percentage of

the power is being wasted? Where might the rest of the energy be

going? > Solution, p. 870

4 The multiﬂash photograph shows a collision between two pool

balls. The ball that was initially at rest shows up as a dark image

in its initial position, because its image was exposed several times

before it was struck and began moving. By making measurements

on the ﬁgure, determine whether or not energy appears to have been

conserved in the collision. What systematic eﬀects would limit the

accuracy of your test? [From an example in PSSC Physics.]

Problem 4.

116 Chapter 2 Conservation of Energy

5 A grasshopper with a mass of 110 mg falls from rest from a

height of 310 cm. On the way down, it dissipates 1.1 mJ of heat due

to air resistance. At what speed, in m/s, does it hit the ground?

> Solution, p. 870

6 A ball rolls up a ramp, turns around, and comes back down.

When does it have the greatest gravitational energy? The greatest

kinetic energy? [Based on a problem by Serway and Faughn.]

7 (a) You release a magnet on a tabletop near a big piece of

iron, and the magnet leaps across the table to the iron. Does the

magnetic energy increase or decrease? Explain. (b) Suppose instead

that you have two repelling magnets. You give them an initial push

towards each other, so they decelerate while approaching each other.

Does the magnetic energy increase or decrease? Explain.

8 Estimate the kinetic energy of an Olympic sprinter.

9 You are driving your car, and you hit a brick wall head on,

at full speed. The car has a mass of 1500 kg. The kinetic energy

released is a measure of how much destruction will be done to the car

and to your body. Calculate the energy released if you are traveling

at (a) 40 mi/hr, and again (b) if you’re going 80 mi/hr. (c) What

is counterintuitive about this, and what implication does this have

for driving at high speeds?

√

10 A closed system can be a bad thing — for an astronaut

sealed inside a space suit, getting rid of body heat can be diﬃcult.

Suppose a 60-kg astronaut is performing vigorous physical activity,

expending 200 W of power. If none of the heat can escape from her

space suit, how long will it take before her body temperature rises

by 6

◦

C (11

◦

F), an amount suﬃcient to kill her? Assume that the

amount of heat required to raise her body temperature by 1

◦

C is

the same as it would be for an equal mass of water. Express your

answer in units of minutes.

√

11 The following table gives the amount of energy required in

order to heat, melt, or boil a gram of water.

heat 1 g of ice by 1

◦

C 2.05 J

melt 1 g of ice 333 J

heat 1 g of liquid by 1

◦

C 4.19 J

boil 1 g of water 2500 J

heat 1 g of steam by 1

◦

C 2.01 J

(a) How much energy is required in order to convert 1.00 g of ice at

-20

◦

C into steam at 137

◦

C?

√

(b) What is the minimum amount of hot water that could melt 1 g

of ice?

√

12 Anya climbs to the top of a tree, while Ivan climbs half-way

to the top. They both drop pennies to the ground. Compare the

kinetic energies and velocities of the pennies on impact, using ratios.

Problems 117

Problem 16.

Problem 17.

Problem 18.

Problem 19.

13 Anya and Ivan lean over a balcony side by side. Anya throws

a penny downward with an initial speed of 5 m/s. Ivan throws

a penny upward with the same speed. Both pennies end up on

the ground below. Compare their kinetic energies and velocities on

impact.

14 (a) A circular hoop of mass : and radius : spins like a wheel

while its center remains at rest. Let ω (Greek letter omega) be the

number of radians it covers per unit time, i.e., ω = 2π´T, where

the period, T, is the time for one revolution. Show that its kinetic

energy equals (1´2):ω

2

:

2

.

(b) Show that the answer to part a has the right units. (Note

that radians aren’t really units, since the deﬁnition of a radian is a

unitless ratio of two lengths.)

(c) If such a hoop rolls with its center moving at velocity ·, its

kinetic energy equals (1´2):·

2

, plus the amount of kinetic energy

found in part a. Show that a hoop rolls down an inclined plane with

half the acceleration that a frictionless sliding block would have.

15 On page 83, I used the chain rule to prove that the acceler-

ation of a free-falling object is given by o = −o. In this problem,

you’ll use a diﬀerent technique to prove the same thing. Assume

that the acceleration is a constant, o, and then integrate to ﬁnd

· and n, including appropriate constants of integration. Plug your

expressions for · and n into the equation for the total energy, and

show that o = −o is the only value that results in constant energy.

16 The ﬁgure shows two unequal masses, :

1

and :

2

, connected

by a string running over a pulley. Find the acceleration.

> Hint, p. 856

17 What ratio of masses will balance the pulley system shown

in the ﬁgure? > Hint, p. 856

18 (a) For the apparatus shown in the ﬁgure, ﬁnd the equilib-

rium angle θ in terms of the two masses.

√

(b) Interpret your result in the case of ` : (` much greater

than :). Does it make sense physically?

(c) For what combinations of masses would your result give non-

sense? Interpret this physically. > Hint, p. 856

19 In the system shown in the ﬁgure, the pulleys on the left and

right are ﬁxed, but the pulley in the center can move to the left or

right. The two hanging masses are identical, and the pulleys and

ropes are all massless. Find the upward acceleration of the mass on

the left, in terms of o only. > Hint, p. 856

√

20 Two atoms will interact via electrical forces between their

protons and electrons. One fairly good approximation to the elec-

118 Chapter 2 Conservation of Energy

trical energy is the Lenard-Jones formula,

l(:) = /

¸

o

:

12

−2

o

:

6

,

where : is the center-to-center distance between the atoms. Show

that (a) there is an equilibrium point at : = o,

(b) the equilibrium is stable, and

(c) the energy required to bring the atoms from their equilibrium

separation to inﬁnity is /. > Hint, p. 856

21 The International Space Station orbits at an altitude of about

360 to 400 km. What is the gravitational ﬁeld of the earth at this

altitude?

√

22 (a) A geosynchronous orbit is one in which the satellite orbits

above the equator, and has an orbital period of 24 hours, so that it

is always above the same point on the spinning earth. Calculate the

altitude of such a satellite.

(b) What is the gravitational ﬁeld experienced by the satellite? Give

your answer as a percentage in relation to the gravitational ﬁeld at

the earth’s surface. > Hint, p. 856

23 Astronomers calculating orbits of planets often work in a

nonmetric system of units, in which the unit of time is the year,

the unit of mass is the sun’s mass, and the unit of distance is the

astronomical unit (A.U.), deﬁned as half the long axis of the earth’s

orbit. In these units, ﬁnd an exact expression for the gravitational

constant, G.

√

24 The star Lalande 21185 was found in 1996 to have two planets

in roughly circular orbits, with periods of 6 and 30 years. What is

the ratio of the two planets’ orbital radii?

√

25 A projectile is moving directly away from a planet of mass

` at exactly escape velocity. (a) Find :, the distance from the

projectile to the center of the planet, as a function of time, t, and

also ﬁnd ·(t).

(b) Check the units of your answer.

(c) Does · show the correct behavior as t approaches inﬁnity?

> Hint, p. 856

26 The purpose of this problem is to estimate the height of the

tides. The main reason for the tides is the moon’s gravity, and we’ll

neglect the eﬀect of the sun. Also, real tides are heavily inﬂuenced

by landforms that channel the ﬂow of water, but we’ll think of the

earth as if it was completely covered with oceans. Under these

assumptions, the ocean surface should be a surface of constant l´:.

That is, a thimbleful of water, :, should not be able to gain or lose

any gravitational energy by moving from one point on the ocean

surface to another. If only the spherical earth’s gravity was present,

then we’d have l´: = −G`

e

´:, and a surface of constant l´:

would be a surface of constant :, i.e., the ocean’s surface would be

Problems 119

Problem 27.

spherical. Taking into account the moon’s gravity, the main eﬀect is

to shift the center of the sphere, but the sphere also becomes slightly

distorted into an approximately ellipsoidal shape. (The shift of the

center is not physically related to the tides, since the solid part of

the earth tends to be centered within the oceans; really, this eﬀect

has to do with the motion of the whole earth through space, and

the way that it wobbles due to the moon’s gravity.) Determine the

amount by which the long axis of the ellipsoid exceeds the short

axis. > Hint, p. 856

27 You are considering going on a space voyage to Mars, in which

your route would be half an ellipse, tangent to the Earth’s orbit at

one end and tangent to Mars’ orbit at the other. Your spacecraft’s

engines will only be used at the beginning and end, not during the

voyage. How long would the outward leg of your trip last? (The

orbits of Earth and Mars are nearly circular, and Mars’s is bigger

by a factor of 1.52.)

√

28 When you buy a helium-ﬁlled balloon, the seller has to inﬂate

it from a large metal cylinder of the compressed gas. The helium

inside the cylinder has energy, as can be demonstrated for example

by releasing a little of it into the air: you hear a hissing sound,

and that sound energy must have come from somewhere. The total

amount of energy in the cylinder is very large, and if the valve is

inadvertently damaged or broken oﬀ, the cylinder can behave like

bomb or a rocket.

Suppose the company that puts the gas in the cylinders prepares

cylinder A with half the normal amount of pure helium, and cylinder

B with the normal amount. Cylinder B has twice as much energy,

and yet the temperatures of both cylinders are the same. Explain, at

the atomic level, what form of energy is involved, and why cylinder

B has twice as much.

29 Explain in terms of conservation of energy why sweating

cools your body, even though the sweat is at the same temperature

as your body. Describe the forms of energy involved in this energy

transformation. Why don’t you get the same cooling eﬀect if you

wipe the sweat oﬀ with a towel? Hint: The sweat is evaporating.

30 [This problem is now problem 3-73.]

31 All stars, including our sun, show variations in their light

output to some degree. Some stars vary their brightness by a factor

of two or even more, but our sun has remained relatively steady

during the hundred years or so that accurate data have been col-

lected. Nevertheless, it is possible that climate variations such as

ice ages are related to long-term irregularities in the sun’s light out-

put. If the sun was to increase its light output even slightly, it could

melt enough ice at the polar icecaps to ﬂood all the world’s coastal

cities. The total sunlight that falls on the ice caps amounts to about

120 Chapter 2 Conservation of Energy

Problem 32.

Problem 35.

Problem 36.

Problem 37.

110

16

watts. Presently, this heat input to the poles is balanced by

the loss of heat via winds, ocean currents, and emission of infrared

light, so that there is no net melting or freezing of ice at the poles

from year to year. Suppose that the sun changes its light output by

some small percentage, but there is no change in the rate of heat

loss by the polar caps. Estimate the percentage by which the sun’s

light output would have to increase in order to melt enough ice to

raise the level of the oceans by 10 meters over a period of 10 years.

(This would be enough to ﬂood New York, London, and many other

cities.) Melting 1 kg of ice requires 3 10

3

J.

32 The ﬁgure shows the oscillation of a microphone in response

to the author whistling the musical note “A.” The horizontal axis,

representing time, has a scale of 1.0 ms per square. Find the period

T, the frequency 1, and the angular frequency ω.

√

33 (a) A mass : is hung from a spring whose spring constant is

/. Write down an expression for the total interaction energy of the

system, l, and ﬁnd its equilibrium position. > Hint, p. 856

(b) Explain how you could use your result from part a to determine

an unknown spring constant.

34 A certain mass, when hung from a certain spring, causes

the spring to stretch by an amount / compared to its equilibrium

length. If the mass is displaced vertically from this equilibrium, it

will oscillate up and down with a period T

osc

. Give a numerical

comparison between T

osc

and T

fall

, the time required for the mass

to fall from rest through a height /, when it isn’t attached to the

spring. (You will need the result of problem 33).

√

35 Find the period of vertical oscillations of the mass :. The

spring, pulley, and ropes have negligible mass.

> Hint, p. 856

√

36 The equilibrium length of each spring in the ﬁgure is /, so

when the mass : is at the center, neither spring exerts any force

on it. When the mass is displaced to the side, the springs stretch;

their spring constants are both /.

(a) Find the energy, l, stored in the springs, as a function of n, the

distance of the mass up or down from the center.

(b) Show that the frequency of small up-down oscillations is inﬁnite.

37 Two springs with spring constants /

1

and /

2

are put to-

gether end-to-end. Let r

1

be the amount by which the ﬁrst spring

is stretched relative to its equilibrium length, and similarly for r

2

. If

the combined double spring is stretched by an amount / relative to

its equilibrium length, then / = r

1

+ r

2

. Find the spring constant,

1, of the combined spring in terms of /

1

and /

2

.

> Hint, p. 857 > Answer, p. 867

√

Problems 121

38 A mass : on a spring oscillates around an equilibrium at

r = 0. Any function l(r) with an equilibrium at r = 0 can be

approximated as l(r) = (1´2)/r

2

, and if the energy is symmet-

ric with respect to positive and negative values of r, then the next

level of improvement in such an approximation would be l(r) =

(1´2)/r

2

+ /r

4

. Do a numerical simulation with an energy that

behaves in this way. Is the period still independent of amplitude?

Is the amplitude-independent equation for the period still approxi-

mately valid for small enough amplitudes? Does the addition of a

positive r

4

term tend to increase the period, or decrease it?

39 An idealized pendulum consists of a pointlike mass : on the

end of a massless, rigid rod of length 1. Its amplitude, θ, is the angle

the rod makes with the vertical when the pendulum is at the end

of its swing. Write a numerical simulation to determine the period

of the pendulum for any combination of :, 1, and θ. Examine the

eﬀect of changing each variable while manipulating the others.

40 A ball falls from a height /. Without air resistance, the

time it takes to reach the ﬂoor is

2/´o. A numerical version

of this calculation was given in program time2 on page 90. Now

suppose that air resistance is not negligible. For a smooth sphere of

radius :, moving at speed · through air of density ρ, the amount of

energy d1 dissipated as heat as the ball falls through a height dn is

given (ignoring signs) by d1 = (π´4)ρ·

2

:

2

dn. Modify the program

to incorporate this eﬀect, and ﬁnd the resulting change in the fall

time in the case of a 21 g ball of radius 1.0 cm, falling from a height

of 1.0 m. The density of air at sea level is about 1.2 kg´m

3

. Answer:

0.34 ms.

Key to symbols:

easy typical challenging diﬃcult very diﬃcult

√

An answer check is available at www.lightandmatter.com.

122 Chapter 2 Conservation of Energy

Exercises

Exercise 2A: Reasoning with Ratios and Powers

Equipment:

ping-pong balls and paddles

two-meter sticks

You have probably bounced a ping pong ball straight up and down in the air. The time between

hits is related to the height to which you hit the ball. If you take twice as much time between

hits, how many times higher do you think you will have to hit the ball? Write down your

hypothesis:

Your instructor will ﬁrst beat out a tempo of 240 beats per minute (four beats per second),

which you should try to match with the ping-pong ball. Measure the height to which the ball

rises:

Now try it at 120 beats per minute:

Compare your hypothesis and your results with the rest of the class.

Exercise 2B: The Shell Theorem

This exercise is an approximate numerical test of the shell theorem. There are seven masses

A-G, each being one kilogram. Masses A-E, each one meter from the center, form a shape like

two Egyptian pyramids joined at their bases; this is a rough approximation to a six-kilogram

spherical shell of mass. Mass G is ﬁve meters from the center of the main group. The class will

divide into six groups and split up the work required in order to calculate the total gravitational

energy of mass G.

1. Each group should write its results on the board in units of picojoules, retaining six signiﬁcant

ﬁgures of precision.

2. The class will add the results and compare with the result that would be obtained with the

shell theorem.

Exercises 123

Exercise 2C: Vibrations

Equipment:

• air track and carts of two diﬀerent masses

• springs

• weights

Place the cart on the air track and attach springs so that it can vibrate.

1. Test whether the period of vibration depends on amplitude. Try at least one moderate

amplitude, for which the springs do not go slack, at least one amplitude that is large enough so

that they do go slack, and one amplitude that’s the very smallest you can possibly observe.

2. Try a cart with a diﬀerent mass. Does the period change by the expected factor, based on

the equation T = 2π

:´/?

3. In homework problem 33 on page 121, you showed that a spring’s spring constant can be

determined by hanging a weight from it. Use this technique to ﬁnd the spring constant of each

of the two springs. The equivalent spring constant of these two springs, attached to the cart in

this way, can be found by adding their spring constants.

4. Test the equation T = 2π

:´/ numerically.

124 Chapter 2 Conservation of Energy

Forces transfer momentum to the

girl.

Chapter 3

Conservation of Momentum

I think, therefore I am.

I hope that posterity will judge me kindly, not only as to the things

which I have explained, but also to those which I have intentionally

omitted so as to leave to others the pleasure of discovery.

Ren´e Descartes

125

a / Systems consisting of material

particles that interact through an

energy U(r ). Top: The galaxy

M100. Here the “particles” are

stars. Middle: The pool balls

don’t interact until they come to-

gether and become compressed;

the energy U(r ) has a sharp

upturn when the center-to-center

distance r gets small enough

for the balls to be in contact.

Bottom: A uranium nucleus

undergoing ﬁssion. The energy

U(r ) has a repulsive contribution

from the electrical interactions

of the protons, plus an attractive

one due to the strong nuclear

interaction. (M100: Hubble Space

Telescope image.)

3.1 Momentum in One Dimension

3.1.1 Mechanical momentum

In the martial arts movie Crouching Tiger, Hidden Dragon, those

who had received mystical enlightenment are able to violate the laws

of physics. Some of the violations are obvious, such as their ability

to ﬂy, but others are a little more subtle. The rebellious young

heroine/antiheroine Jen Yu gets into an argument while sitting at a

table in a restaurant. A young tough, Iron Arm Lu, comes running

toward her at full speed, and she puts up one arm and eﬀortlessly

makes him bounce back, without even getting out of her seat or

bracing herself against anything. She does all this between bites.

Although kinetic energy doesn’t depend on the direction of mo-

tion, we’ve already seen on page 87 how conservation of energy com-

bined with Galilean relativity allows us to make some predictions

about the direction of motion. One of the examples was a demon-

stration that it isn’t possible for a hockey puck to spontaneously re-

verse its direction of motion. In the scene from the movie, however,

the woman’s assailant isn’t just gliding through space. He’s inter-

acting with her, so the previous argument doesn’t apply here, and

we need to generalize it to more than one object. We consider the

case of a physical system composed of pointlike material particles,

in which every particle interacts with every other particle through

an energy l(:) that depends only on the distance : between them.

This still allows for a fairly general mechanical system, by which I

mean roughly a system made of matter, not light. The characters

in the movie are made of protons, neutrons, and electrons, so they

would constitute such a system if the interactions among all these

particles were of the form l(:).

1

We might even be able to get

away with thinking of each person as one big particle, if it’s a good

approximation to say that every part of each person’s whole body

moves in the same direction at the same speed.

The basic insight can be extracted from the special case where

there are only two particles interacting, and they only move in one

dimension, as in the example shown in ﬁgure b. Conservation of

energy says

1

1i

+ 1

2i

+ l

i

= 1

1f

+ 1

2f

+ l

f

.

For simplicity, let’s assume that the interactions start after the time

we’re calling initial, and end before the instant we choose as ﬁnal.

This is true in ﬁgure b, for example. Then l

i

= l

f

, and we can

subtract the interaction energies from both sides, giving.

1

1i

+ 1

2i

= 1

1f

+ 1

2f

1

2

:

1

·

2

1i

+

1

2

:

2

·

2

2i

=

1

2

:

1

·

2

1f

+

1

2

:

2

·

2

2f

.

1

Electrical and magnetic interactions don’t quite behave like this, which is a

point we’ll take up later in the book.

126 Chapter 3 Conservation of Momentum

b / A collision between two

pool balls is seen in two different

frames of reference. The solid

ball catches up with the striped

ball. Velocities are shown with

arrows. The second observer is

moving to the left at velocity u

compared to the ﬁrst observer,

so all the velocities in the second

frame have u added onto them.

The two observers must agree on

conservation of energy.

As in the one-particle argument on page 87, the trick is to require

conservation of energy not just in one particular frame of reference,

but in every frame of reference. In a frame of reference moving at

velocity n relative to the ﬁrst one, the velocities all have n added

onto them:

2

1

2

:

1

(·

1i

+n)

2

+

1

2

:

2

(·

2i

+n)

2

=

1

2

:

1

(·

1f

+n)

2

+

1

2

:

2

(·

2f

+n)

2

When we square a quantity like (·

1i

+n)

2

, we get the same ·

2

1i

that

occurred in the original frame of reference, plus two n-dependent

terms, 2·

1i

n + n

2

. Subtracting the original conservation of energy

equation from the version in the new frame of reference, we have

:

1

·

1i

n + :

2

·

2i

n = :

1

·

1f

n + :

2

·

2f

n ,

or, dividing by n,

:

1

·

1i

+ :

2

·

2i

= :

1

·

1f

+ :

2

·

2f

.

This is a statement that when you add up :· for the whole system,

that total remains constant over time. In other words, this is a

conservation law. The quantity :· is called momentum, notated j

for obscure historical reasons. Its units are kg m´s.

Unlike kinetic energy, momentum depends on the direction of

motion, since the velocity is not squared. In one dimension, motion

in the same direction as the positive r axis is represented with posi-

tive values of · and j. Motion in the opposite direction has negative

· and j.

Jen Yu meets Iron Arm Lu example 1

> Initially, Jen Yu is at rest, and Iron Arm Lu is charging to the left,

toward her, at 5 m/s. Jen Yu’s mass is 50 kg, and Lu’s is 100 kg.

After the collision, the movie shows Jen Yu still at rest, and Lu

rebounding at 5 m/s to the right. Is this consistent with the laws

of physics, or would it be impossible in real life?

> This is perfectly consistent with conservation of mass (50 kg+100

kg=50 kg+100 kg), and also with conservation of energy, since

neither person’s kinetic energy changes, and there is therefore

no change in the total energy. (We don’t have to worry about

interaction energies, because the two points in time we’re con-

sidering are ones at which the two people aren’t interacting.) To

analyze whether the scene violates conservation of momentum,

we have to pick a coordinate system. Let’s deﬁne positive as

2

We can now see that the derivation would have been equally valid for Ui =

U

f

. The two observers agree on the distance between the particles, so they

also agree on the interaction energies, even though they disagree on the kinetic

energies.

Section 3.1 Momentum in One Dimension 127

c / The ion drive engine of

the NASA Deep Space 1 probe,

shown under construction (top)

and being tested in a vacuum

chamber (bottom) prior to its

October 1998 launch. Intended

mainly as a test vehicle for

new technologies, the craft

nevertheless also carried out a

scientiﬁc program that included

a rendezvous with a comet in

2004.(NASA)

being to the right. The initial momentum is (50 kg)(0 m/s)+(100

kg)(−5 m/s)=−500 kg m´s, and the ﬁnal momentum is (50 kg)(0

m/s)+(100 kg)(5 m/s)=500 kg m´s. This is a change of 1000

kg m´s, which is impossible if the two people constitute a closed

system.

One could argue that they’re not a closed system, since Lu might

be exchanging momentum with the ﬂoor, and Jen Yu might be

exchanging momentum with the seat of her chair. This is a rea-

sonable objection, but in the following section we’ll see that there

are physical reasons why, in this situation, the force of friction

would be relatively weak, and would not be able to transfer that

much momentum in a fraction of a second.

This example points to an intuitive interpretation of conserva-

tion of momentum, which is that interactions are always mutual.

That is, Jen Yu can’t change Lu’s momentum without having her

own momentum changed as well.

A cannon example 2

> A cannon of mass 1000 kg ﬁres a 10-kg shell at a velocity of

200 m/s. At what speed does the cannon recoil?

> The law of conservation of momentum tells us that

p

cannon,i

+ p

shel l ,i

= p

cannon,f

+ p

shel l ,f

.

Choosing a coordinate system in which the cannon points in the

positive direction, the given information is

p

cannon,i

= 0

p

s

hel l , i = 0

p

shel l ,f

= 2000 kg m/s .

We must have p

cannon,f

= −2000 kg m/s, so the recoil velocity of

the cannon is 2 m/s.

Ion drive example 3

> The experimental solar-powered ion drive of the Deep Space

1 space probe expels its xenon gas exhaust at a speed of 30,000

m/s, ten times faster than the exhaust velocity for a typical chemical-

fuel rocket engine. Roughly how many times greater is the maxi-

mum speed this spacecraft can reach, compared with a chemical-

fueled probe with the same mass of fuel (“reaction mass”) avail-

able for pushing out the back as exhaust?

> Momentum equals mass multiplied by velocity. Both spacecraft

are assumed to have the same amount of reaction mass, and the

ion drive’s exhaust has a velocity ten times greater, so the mo-

mentum of its exhaust is ten times greater. Before the engine

starts ﬁring, neither the probe nor the exhaust has any momen-

tum, so the total momentum of the system is zero. By conserva-

tion of momentum, the total momentum must also be zero after

128 Chapter 3 Conservation of Momentum

d / Halley’s comet. Top: A

photograph made from earth.

Bottom: A view of the nucleus

from the Giotto space probe. (W.

Liller and European Space Agency)

all the exhaust has been expelled. If we deﬁne the positive di-

rection as the direction the spacecraft is going, then the negative

momentum of the exhaust is canceled by the positive momen-

tum of the spacecraft. The ion drive allows a ﬁnal speed that is

ten times greater. (This simpliﬁed analysis ignores the fact that

the reaction mass expelled later in the burn is not moving back-

ward as fast, because of the forward speed of the already-moving

spacecraft.)

3.1.2 Nonmechanical momentum

So far, it sounds as though conservation of momentum can be

proved mathematically, unlike conservation of mass and energy, which

are entirely based on observations. The proof, however, was only for

a mechanical system, with interactions of the form l(:). Conser-

vation of momentum can be extended to other systems as well, but

this generalization is based on experiments, not mathematical proof.

Light is the most important example of momentum that doesn’t

equal :· — light doesn’t have mass at all, but it does have mo-

mentum. For example, a ﬂashlight left on for an hour would absorb

about 10

−5

kg m´s of momentum as it recoiled.

Halley’s comet example 4

Momentum is not always equal to mv. Halley’s comet, shown in

ﬁgure d, has a very elongated elliptical orbit, like those of many

other comets. About once per century, its orbit brings it close

to the sun. The comet’s head, or nucleus, is composed of dirty

ice, so the energy deposited by the intense sunlight gradually re-

moves ice from the surface and turns it into water vapor. The

bottom photo shows a view of the water coming off of the nucleus

from the European Giotto space probe, which passed within 596

km of the comet’s head on March 13, 1986.

The sunlight does not just carry energy, however. It also carries

momentum. Once the steam comes off, the momentum of the

sunlight impacting on it pushes it away from the sun, forming a

tail as shown in in the top image. The tail always points away

from the sun, so when the comet is receding from the sun, the tail

is in front. By analogy with matter, for which momentum equals

mv, you would expect that massless light would have zero mo-

mentum, but the equation p = mv is not the correct one for light,

and light does have momentum. (Some comets also have a sec-

ond tail, which is propelled by electrical forces rather than by the

momentum of sunlight.)

The reason for bringing this up is not so that you can plug

numbers into formulas in these exotic situations. The point is that

the conservation laws have proven so sturdy exactly because they

can easily be amended to ﬁt new circumstances. The momentum of

light will be a natural consequence of the discussion of the theory

of relativity in chapter 7.

Section 3.1 Momentum in One Dimension 129

3.1.3 Momentum compared to kinetic energy

Momentum and kinetic energy are both measures of the quantity

of motion, and a sideshow in the Newton-Leibniz controversy over

who invented calculus was an argument over whether :· (i.e., mo-

mentum) or :·

2

(i.e., kinetic energy without the 1/2 in front) was

the “true” measure of motion. The modern student can certainly

be excused for wondering why we need both quantities, when their

complementary nature was not evident to the greatest minds of the

1700s. The following table highlights their diﬀerences.

Kinetic energy... Momentum...

doesn’t depend on direc-

tion.

depends on direction.

is always positive, and can-

not cancel out.

cancels with momentum in

the opposite direction.

can be traded for forms of

energy that do not involve

motion. Kinetic energy is

not a conserved quantity

by itself.

is always conserved in a

closed system.

is quadrupled if the veloc-

ity is doubled.

is doubled if the velocity is

doubled.

Here are some examples that show the diﬀerent behaviors of the

two quantities.

A spinning top example 5

A spinning top has zero total momentum, because for every mov-

ing point, there is another point on the opposite side that cancels

its momentum. It does, however, have kinetic energy.

Momentum and kinetic energy in ﬁring a riﬂe example 6

The riﬂe and bullet have zero momentum and zero kinetic energy

to start with. When the trigger is pulled, the bullet gains some mo-

mentum in the forward direction, but this is canceled by the riﬂe’s

backward momentum, so the total momentum is still zero. The

kinetic energies of the gun and bullet are both positive numbers,

however, and do not cancel. The total kinetic energy is allowed to

increase, because kinetic energy is being traded for other forms

of energy. Initially there is chemical energy in the gunpowder.

This chemical energy is converted into heat, sound, and kinetic

energy. The gun’s “backward” kinetic energy does not refrigerate

the shooter’s shoulder!

The wobbly earth example 7

As the moon completes half a circle around the earth, its motion

reverses direction. This does not involve any change in kinetic

energy. The reversed velocity does, however, imply a reversed

momentum, so conservation of momentum in the closed earth-

moon system tells us that the earth must also reverse its momen-

130 Chapter 3 Conservation of Momentum

f / This Hubble Space Tele-

scope photo shows a small

galaxy (yellow blob in the lower

right) that has collided with a

larger galaxy (spiral near the

center), producing a wave of star

formation (blue track) due to the

shock waves passing through

the galaxies’ clouds of gas. This

is considered a collision in the

physics sense, even though it is

statistically certain that no star in

either galaxy ever struck a star

in the other — the stars are very

small compared to the distances

between them.(NASA)

e / Example 8.

tum. In fact, the earth wobbles in a little “orbit” about a point below

its surface on the line connecting it and the moon. The two bod-

ies’ momenta always point in opposite directions and cancel each

other out.

The earth and moon get a divorce example 8

Why can’t the moon suddenly decide to ﬂy off one way and the

earth the other way? It is not forbidden by conservation of mo-

mentum, because the moon’s newly acquired momentum in one

direction could be canceled out by the change in the momen-

tum of the earth, supposing the earth headed off in the opposite

direction at the appropriate, slower speed. The catastrophe is for-

bidden by conservation of energy, because their energies would

have to increase greatly.

Momentum and kinetic energy of a glacier example 9

A cubic-kilometer glacier would have a mass of about 10

12

kg. If

it moves at a speed of 10

−5

m/s, then its momentum is 10

7

kg

m´s. This is the kind of heroic-scale result we expect, perhaps

the equivalent of the space shuttle taking off, or all the cars in LA

driving in the same direction at freeway speed. Its kinetic energy,

however, is only 50 J, the equivalent of the calories contained

in a poppy seed or the energy in a drop of gasoline too small

to be seen without a microscope. The surprisingly small kinetic

energy is because kinetic energy is proportional to the square of

the velocity, and the square of a small number is an even smaller

number.

Discussion Questions

A If all the air molecules in the room settled down in a thin ﬁlm on the

ﬂoor, would that violate conservation of momentum as well as conserva-

tion of energy?

B A refrigerator has coils in back that get hot, and heat is molecular

motion. These moving molecules have both energy and momentum. Why

doesn’t the refrigerator need to be tied to the wall to keep it from recoiling

from the momentum it loses out the back?

3.1.4 Collisions in one dimension

Physicists employ the term “collision” in a broader sense than in

ordinary usage, applying it to any situation where objects interact

for a certain period of time. A bat hitting a baseball, a cosmic ray

damaging DNA, and a gun and a bullet going their separate ways

are all examples of collisions in this sense. Physical contact is not

even required. A comet swinging past the sun on a hyperbolic orbit

is considered to undergo a collision, even though it never touches

the sun. All that matters is that the comet and the sun interacted

gravitationally with each other.

The reason for broadening the term “collision” in this way is

that all of these situations can be attacked mathematically using

the same conservation laws in similar ways. In our ﬁrst example,

Section 3.1 Momentum in One Dimension 131

conservation of momentum is all that is required.

Getting rear-ended example 10

> Ms. Chang is rear-ended at a stop light by Mr. Nelson, and sues

to make him pay her medical bills. He testiﬁes that he was only

going 55 km per hour when he hit Ms. Chang. She thinks he was

going much faster than that. The cars skidded together after the

impact, and measurements of the length of the skid marks show

that their joint velocity immediately after the impact was 30 km

per hour. Mr. Nelson’s Nissan has a mass of 1400 kg, and Ms.

Chang ’s Cadillac is 2400 kg. Is Mr. Nelson telling the truth?

> Since the cars skidded together, we can write down the equation

for conservation of momentum using only two velocities, v for Mr.

Nelson’s velocity before the crash, and v

**for their joint velocity
**

afterward:

m

N

v = m

N

v

+ m

C

v

.

Solving for the unknown, v, we ﬁnd

v =

1 +

m

C

m

N

v

= 80 km/hr .

He is lying.

The above example was simple because both cars had the same

velocity afterward. In many one-dimensional collisions, however, the

two objects do not stick. If we wish to predict the result of such a

collision, conservation of momentum does not suﬃce, because both

velocities after the collision are unknown, so we have one equation

in two unknowns.

Conservation of energy can provide a second equation, but its

application is not as straightforward, because kinetic energy is only

the particular form of energy that has to do with motion. In many

collisions, part of the kinetic energy that was present before the

collision is used to create heat or sound, or to break the objects

or permanently bend them. Cars, in fact, are carefully designed to

crumple in a collision. Crumpling the car uses up energy, and that’s

good because the goal is to get rid of all that kinetic energy in a

relatively safe and controlled way. At the opposite extreme, a super-

ball is “super” because it emerges from a collision with almost all its

original kinetic energy, having only stored it brieﬂy as interatomic

electrical energy while it was being squashed by the impact.

Collisions of the superball type, in which almost no kinetic en-

ergy is converted to other forms of energy, can thus be analyzed

more thoroughly, because they have 1

f

= 1

i

, as opposed to the

less useful inequality 1

f

< 1

i

for a case like a tennis ball bouncing

on grass.

132 Chapter 3 Conservation of Momentum

Gory Details of the Proof in

Example 11

The equation A + B = C + D says

that the change in one ball’s ve-

locity is equal and opposite to the

change in the other’s. We invent a

symbol x = C − A for the change

in ball 1’s velocity. The second

equation can then be rewritten as

A

2

+B

2

= (A+x)

2

+(B−x)

2

. Squar-

ing out the quantities in parenthe-

ses and then simplifying, we get

0 = Ax − Bx + x

2

. The equation

has the trivial solution x = 0, i.e.,

neither ball’s velocity is changed,

but this is physically impossible be-

cause the balls can’t travel through

each other like ghosts. Assuming

x = 0, we can divide by x and

solve for x = B − A. This means

that ball 1 has gained an amount

of velocity exactly sufﬁcient to mat-

ch ball 2’s initial velocity, and vice-

versa. The balls must have swap-

ped velocities.

Pool balls colliding head-on example 11

> Two pool balls collide head-on, so that the collision is restricted

to one dimension. Pool balls are constructed so as to lose as little

kinetic energy as possible in a collision, so under the assumption

that no kinetic energy is converted to any other form of energy,

what can we predict about the results of such a collision?

> Pool balls have identical masses, so we use the same symbol

m for both. Conservation of energy and no loss of kinetic energy

give us the two equations

mv

1i

+ mv

2i

= mv

1f

+ mv

2f

1

2

mv

2

1i

+

1

2

mv

2

2i

=

1

2

mv

2

1f

+

1

2

mv

2

2f

The masses and the factors of 1/2 can be divided out, and we

eliminate the cumbersome subscripts by replacing the symbols

v

1i

,... with the symbols A, B, C, and D:

A + B = C + D

A

2

+ B

2

= C

2

+ D

2

.

A little experimentation with numbers shows that given values of A

and B, it is impossible to ﬁnd C and D that satisfy these equations

unless C and D equal A and B, or C and D are the same as A

and B but swapped around. A formal proof of this fact is given

in the sidebar. In the special case where ball 2 is initially at rest,

this tells us that ball 1 is stopped dead by the collision, and ball

2 heads off at the velocity originally possessed by ball 1. This

behavior will be familiar to players of pool.

Often, as in example 11, the details of the algebra are the least

interesting part of the problem, and considerable physical insight

can be gained simply by counting the number of unknowns and

comparing to the number of equations. Suppose a beginner at pool

notices a case where her cue ball hits an initially stationary ball

and stops dead. “Wow, what a good trick,” she thinks. “I bet I

could never do that again in a million years.” But she tries again,

and ﬁnds that she can’t help doing it even if she doesn’t want to.

Luckily she has just learned about collisions in her physics course.

Once she has written down the equations for conservation of energy

and no loss of kinetic energy, she really doesn’t have to complete the

algebra. She knows that she has two equations in two unknowns,

so there must be a well-deﬁned solution. Once she has seen the

result of one such collision, she knows that the same thing must

happen every time. The same thing would happen with colliding

marbles or croquet balls. It doesn’t matter if the masses or velocities

are diﬀerent, because that just multiplies both equations by some

constant factor.

Section 3.1 Momentum in One Dimension 133

The discovery of the neutron

This was the type of reasoning employed by James Chadwick in

his 1932 discovery of the neutron. At the time, the atom was imag-

ined to be made out of two types of fundamental particles, protons

and electrons. The protons were far more massive, and clustered

together in the atom’s core, or nucleus. Electrical attraction caused

the electrons to orbit the nucleus in circles, in much the same way

that gravity kept the planets from cruising out of the solar system.

Experiments showed, for example, that twice as much energy was

required to strip the last electron oﬀ of a helium atom as was needed

to remove the single electron from a hydrogen atom, and this was

explained by saying that helium had two protons to hydrogen’s one.

The trouble was that according to this model, helium would have

two electrons and two protons, giving it precisely twice the mass of

a hydrogen atom with one of each. In fact, helium has about four

times the mass of hydrogen.

Chadwick suspected that the helium nucleus possessed two addi-

tional particles of a new type, which did not participate in electrical

interactions at all, i.e., were electrically neutral. If these particles

had very nearly the same mass as protons, then the four-to-one mass

ratio of helium and hydrogen could be explained. In 1930, a new

type of radiation was discovered that seemed to ﬁt this description.

It was electrically neutral, and seemed to be coming from the nuclei

of light elements that had been exposed to other types of radia-

tion. At this time, however, reports of new types of particles were

a dime a dozen, and most of them turned out to be either clusters

made of previously known particles or else previously known parti-

cles with higher energies. Many physicists believed that the “new”

particle that had attracted Chadwick’s interest was really a pre-

viously known particle called a gamma ray, which was electrically

neutral. Since gamma rays have no mass, Chadwick decided to try

to determine the new particle’s mass and see if it was nonzero and

approximately equal to the mass of a proton.

Unfortunately a subatomic particle is not something you can

just put on a scale and weigh. Chadwick came up with an ingenious

solution. The masses of the nuclei of the various chemical elements

were already known, and techniques had already been developed for

measuring the speed of a rapidly moving nucleus. He therefore set

out to bombard samples of selected elements with the mysterious

new particles. When a direct, head-on collision occurred between

a mystery particle and the nucleus of one of the target atoms, the

nucleus would be knocked out of the atom, and he would measure

its velocity.

Suppose, for instance, that we bombard a sample of hydrogen

atoms with the mystery particles. Since the participants in the

collision are fundamental particles, there is no way for kinetic energy

134 Chapter 3 Conservation of Momentum

g / Chadwick’s subatomic pool table. A disk of the naturally occur-

ring metal polonium provides a source of radiation capable of kicking

neutrons out of the beryllium nuclei. The type of radiation emitted by

the polonium is easily absorbed by a few mm of air, so the air has to be

pumped out of the left-hand chamber. The neutrons, Chadwick’s mystery

particles, penetrate matter far more readily, and ﬂy out through the wall

and into the chamber on the right, which is ﬁlled with nitrogen or hydrogen

gas. When a neutron collides with a nitrogen or hydrogen nucleus, it

kicks it out of its atom at high speed, and this recoiling nucleus then rips

apart thousands of other atoms of the gas. The result is an electrical

pulse that can be detected in the wire on the right. Physicists had already

calibrated this type of apparatus so that they could translate the strength

of the electrical pulse into the velocity of the recoiling nucleus. The

whole apparatus shown in the ﬁgure would ﬁt in the palm of your hand, in

dramatic contrast to today’s giant particle accelerators.

to be converted into heat or any other form of energy, and Chadwick

thus had two equations in three unknowns:

equation #1: conservation of momentum

equation #2: no loss of kinetic energy

unknown #1: mass of the mystery particle

unknown #2: initial velocity of the mystery particle

unknown #3: ﬁnal velocity of the mystery particle

The number of unknowns is greater than the number of equa-

tions, so there is no unique solution. But by creating collisions with

nuclei of another element, nitrogen, he gained two more equations

at the expense of only one more unknown:

equation #3: conservation of momentum in the new collision

equation #4: no loss of kinetic energy in the new collision

unknown #4: ﬁnal velocity of the mystery particle in the new

collision

He was thus able to solve for all the unknowns, including the

mass of the mystery particle, which was indeed within 1% of the

Section 3.1 Momentum in One Dimension 135

h / The highjumper’s body

passes over the bar, but his

center of mass passes under

it.(Dunia Young)

i / Two pool balls collide.

mass of a proton. He named the new particle the neutron, since it

is electrically neutral.

Discussion Questions

A Good pool players learn to make the cue ball spin, which can cause

it not to stop dead in a head-on collision with a stationary ball. If this does

not violate the laws of physics, what hidden assumption was there in the

example in the text where it was proved that the cue ball must stop?

3.1.5 The center of mass

Figures h and j show two examples where a motion that appears

complicated actually has a very simple feature. In both cases, there

is a particular point, called the center of mass, whose motion is

surprisingly simple. The highjumper ﬂexes his body as he passes

over the bar, so his motion is intrinsically very complicated, and

yet his center of mass’s motion is a simple parabola, just like the

parabolic arc of a pointlike particle. The wrench’s center of mass

travels in a straight line as seen from above, which is what we’d

expect for a pointlike particle ﬂying through the air.

The highjumper and the wrench are both complicated systems,

j / In this multiple-ﬂash photograph, we see the wrench from above

as it ﬂies through the air, rotating as it goes. Its center of mass, marked

with the black cross, travels along a straight line, unlike the other points

on the wrench, which execute loops. (PSSC Physics)

each consisting of zillions of subatomic particles. To understand

what’s going on, let’s instead look at a nice simple system, two pool

balls colliding. We assume the balls are a closed system (i.e., their

interaction with the felt surface is not important) and that their

rotation is unimportant, so that we’ll be able to treat each one as a

single particle. By symmetry, the only place their center of mass can

be is half-way in between, at an r coordinate equal to the average

of the two balls’ positions, r

cm

= (r

1

+ r

2

)´2.

Figure i makes it appear that the center of mass, marked with

an , moves with constant velocity to the right, regardless of the

collision, and we can easily prove this using conservation of momen-

136 Chapter 3 Conservation of Momentum

k / No matter what point you

hang the pear from, the string

lines up with the pear’s center

of mass. The center of mass

can therefore be deﬁned as the

intersection of all the lines made

by hanging the pear in this way.

Note that the X in the ﬁgure

should not be interpreted as

implying that the center of mass

is on the surface — it is actually

inside the pear.

l / The circus performers hang

with the ropes passing through

their centers of mass.

tum:

·

cm

= dr

cm

´dt

=

1

2

(·

1

+ ·

2

)

=

1

2:

(:·

1

+ :·

2

)

=

j

total

:

total

Since momentum is conserved, the last expression is constant, which

proves that ·

cm

is constant.

Rearranging this a little, we have j

total

= :

total

·

cm

. In other

words, the total momentum of the system is the same as if all its

mass was concentrated at the center of mass point.

Sigma notation

When there is a large, potentially unknown number of particles,

we can write sums like the ones occurring above using symbols like

“+. . .,” but that gets awkward. It’s more convenient to use the

Greek uppercase sigma, Σ, to indicate addition. For example, the

sum 1

2

+ 2

2

+ 3

2

+ 4

2

= 30 could be written as

n

¸

j=1

,

2

= 30 ,

read “the sum from , = 1 to n of ,

2

.” The variable , is a dummy

variable, just like the dr in an integral that tells you you’re integrat-

ing with respect to r, but has no signiﬁcance outside the integral.

The , below the sigma tells you what variable is changing from one

term of the sum to the next, but , has no signiﬁcance outside the

sum.

As an example, let’s generalize the proof of j

total

= :

total

·

cm

to

the case of an arbitrary number n of identical particles moving in

one dimension, rather than just two particles. The center of mass

is at

r

cm

=

1

n

n

¸

j=1

r

j

,

where r

1

is the mass of the ﬁrst particle, and so on. The velocity of

the center of mass is

·

cm

= dr

cm

´dt

=

1

n

n

¸

j=1

·

j

=

1

n:

n

¸

j=1

:·

j

=

j

total

:

total

Section 3.1 Momentum in One Dimension 137

m / An improperly balanced

wheel has a center of mass that

is not at its geometric center.

When you get a new tire, the

mechanic clamps little weights to

the rim to balance the wheel.

n / This toy was intentionally

designed so that the mushroom-

shaped piece of metal on top

would throw off the center of

mass. When you wind it up, the

mushroom spins, but the center

of mass doesn’t want to move,

so the rest of the toy tends to

counter the mushroom’s motion,

causing the whole thing to jump

around.

What about a system containing objects with unequal masses,

or containing more than two objects? The reasoning above can be

generalized to a weighted average:

r

cm

=

¸

n

j=1

:

j

r

j

¸

n

j=1

:

j

The solar system’s center of mass example 12

In the discussion of the sun’s gravitational ﬁeld on page 97, I

mentioned in a footnote that the sun doesn’t really stay in one

place while the planets orbit around it. Actually, motion is relative,

so it’s meaningless to ask whether the sun is absolutely at rest,

but it is meaningful to ask whether it moves in a straight line at

constant velocity. We can now see that since the solar system

is a closed system, its total momentum must be constant, and

p

t ot al

= m

t ot al

v

cm

then tells us that it’s the solar system’s center

of mass that has constant velocity, not the sun. The sun wob-

bles around this point irregularly due to its interactions with the

planets, Jupiter in particular.

The earth-moon system example 13

The earth-moon system is much simpler than the solar system

because it contains only two objects. Where is the center of mass

of this system? Let x=0 be the earth’s center, so that the moon

lies at x = 3.8 10

5

km. Then

x

cm

=

¸

2

j =1

m

j

x

j

¸

2

j =1

m

j

=

m

1

x

1

+ m

2

x

2

m

1

+ m

2

,

and letting 1 be the earth and 2 the moon, we have

x

cm

=

m

ear t h

0 + m

moon

x

moon

m

ear t h

+ m

moon

= 4600 km ,

or about three quarters of the way from the earth’s center to its

surface.

138 Chapter 3 Conservation of Momentum

p / Self-check A.

The center of mass as an average example 14

> Explain how we know that the center of mass of each object is

at the location shown in ﬁgure o.

o / Example 14.

> The center of mass is a sort of average, so the height of the

centers of mass in 1 and 2 has to be midway between the two

squares, because that height is the average of the heights of the

two squares. Example 3 is a combination of examples 1 and

2, so we can ﬁnd its center of mass by averaging the horizontal

positions of their centers of mass. In example 4, each square

has been skewed a little, but just as much mass has been moved

up as down, so the average vertical position of the mass hasn’t

changed. Example 5 is clearly not all that different from example

4, the main difference being a slight clockwise rotation, so just as

in example 4, the center of mass must be hanging in empty space,

where there isn’t actually any mass. Horizontally, the center of

mass must be between the heels and toes, or else it wouldn’t be

possible to stand without tipping over.

Momentum and Galilean relativity example 15

The principle of Galilean relativity states that the laws of physics

are supposed to be equally valid in all inertial frames of refer-

ence. If we ﬁrst calculate some momenta in one frame of refer-

ence and ﬁnd that momentum is conserved, and then rework the

whole problem in some other frame of reference that is moving

with respect to the ﬁrst, the numerical values of the momenta will

all be different. Even so, momentum will still be conserved. All

that matters is that we work a single problem in one consistent

frame of reference.

One way of proving this is to apply the equation p

t ot al

= m

t ot al

v

cm

.

If the velocity of one frame relative to the other is u, then the only

effect of changing frames of reference is to change v

cm

from its

original value to v

cm

+ u. This adds a constant onto the momen-

tum, which has no effect on conservation of momentum.

self-check A

The ﬁgure shows a gymnast holding onto the inside of a big wheel.

From inside the wheel, how could he make it roll one way or the other?

> Answer, p. 860

Section 3.1 Momentum in One Dimension 139

q / The same collision of two

pools balls, but now seen in

the center of mass frame of

reference.

r / The sun’s frame of refer-

ence.

s / The c.m. frame.

3.1.6 The center of mass frame of reference

A particularly useful frame of reference in many cases is the

frame that moves along with the center of mass, called the center

of mass (c.m.) frame. In this frame, the total momentum is zero.

The following examples show how the center of mass frame can be

a powerful tool for simplifying our understanding of collisions.

A collision of pool balls viewed in the c.m. frame example 16

If you move your head so that your eye is always above the point

halfway in between the two pool balls, as in ﬁgure q, you are

viewing things in the center of mass frame. In this frame, the

balls come toward the center of mass at equal speeds. By sym-

metry, they must therefore recoil at equal speeds along the lines

on which they entered. Since the balls have essentially swapped

paths in the center of mass frame, the same must also be true in

any other frame. This is the same result that required laborious

algebra to prove previously without the concept of the center of

mass frame.

The slingshot effect example 17

It is a counterintuitive fact that a spacecraft can pick up speed

by swinging around a planet, if it arrives in the opposite direction

compared to the planet’s motion. Although there is no physical

contact, we treat the encounter as a one-dimensional collision,

and analyze it in the center of mass frame. Since Jupiter is so

much more massive than the spacecraft, the center of mass is

essentially ﬁxed at Jupiter’s center, and Jupiter has zero velocity

in the center of mass frame, as shown in ﬁgure 3.1.6. The c.m.

frame is moving to the left compared to the sun-ﬁxed frame used

in ﬁgure 3.1.6, so the spacecraft’s initial velocity is greater in this

frame than in the sun’s frame.

Things are simpler in the center of mass frame, because it is more

symmetric. In the sun-ﬁxed frame, the incoming leg of the en-

counter is rapid, because the two bodies are rushing toward each

other, while their separation on the outbound leg is more grad-

ual, because Jupiter is trying to catch up. In the c.m. frame,

Jupiter is sitting still, and there is perfect symmetry between the

incoming and outgoing legs, so by symmetry we have v

1

f = −v

1i

.

Going back to the sun-ﬁxed frame, the spacecraft’s ﬁnal velocity

is increased by the frames’ motion relative to each other. In the

sun-ﬁxed frame, the spacecraft’s velocity has increased greatly.

Einstein’s motorcycle example 18

We’ve assumed we were dealing with a system of material ob-

jects, for which the equation p = mv was true. What if our system

contains only light rays, or a mixture of light and matter? As a col-

lege student, Einstein kept worrying about was what a beam of

light would look like if you could ride alongside it on a motorcycle.

In other words, he imagined putting himself in the light beam’s

140 Chapter 3 Conservation of Momentum

a / Power and force are the

rates at which energy and

momentum are transferred.

center of mass frame. Chapter 7 discusses Einstein’s resolution

of this problem, but the basic point is that you can’t ride the mo-

torcycle alongside the light beam, because material objects can’t

go as fast as the speed of light. A beam of light has no center of

mass frame of reference.

Discussion Questions

A Make up a numerical example of two unequal masses moving in one

dimension at constant velocity, and verify the equation p

t ot al

= m

t ot al

v

cm

over a time interval of one second.

B A more massive tennis racquet or baseball bat makes the ball ﬂy

off faster. Explain why this is true, using the center of mass frame. For

simplicity, assume that the racquet or bat is simply sitting still before the

collision, and that the hitter’s hands do not make any force large enough

to have a signiﬁcant effect over the short duration of the impact.

3.2 Force in One Dimension

3.2.1 Momentum transfer

For every conserved quantity, we can deﬁne an associated rate

of ﬂow. An open system can have mass transferred in or out of it,

and we can measure the rate of mass ﬂow, d:´dt in units of kg/s.

Energy can ﬂow in or out, and the rate of energy transfer is the

power, 1 = d1´dt, measured in watts.

3

The rate of momentum

transfer is called force,

1 =

dj

dt

[deﬁnition of force] .

The units of force are kgm´s

2

, which can be abbreviated as newtons,

1 N = kgm´s

2

. Newtons are unfortunately not as familiar as watts.

A newton is about how much force you’d use to pet a dog. The

most powerful rocket engine ever built, the ﬁrst stage of the Saturn

V that sent astronauts to the moon, had a thrust of about 30 million

newtons. In one dimension, positive and negative signs indicate the

direction of the force — a positive force is one that pushes or pulls

in the direction of the positive r axis.

Walking into a lamppost example 19

> Starting from rest, you begin walking, bringing your momentum

up to 100 kgm´s. You walk straight into a lamppost. Why is the

momentum change of −100 kg m´s so much more painful than

the change of +100 kgm´s when you started walking?

> The forces are not really constant, but for this type of qualitative

discussion we can pretend they are, and approximate dp´dt as

∆p´∆t . It probably takes you about 1 s to speed up initially, so the

ground’s force on you is F = ∆p´∆t ≈ 100 N. Your impact with

the lamppost, however, is over in the blink of an eye, say 1/10 s or

3

Recall that uppercase P is power, while lowercase p is momentum.

Section 3.2 Force in One Dimension 141

less. Dividing by this much smaller ∆t gives a much larger force,

perhaps thousands of newtons (with a negative sign).

This is also the principle of airbags in cars. The time required

for the airbag to decelerate your head is fairly long: the time it

takes your face to travel 20 or 30 cm. Without an airbag, your face

would have hit the dashboard, and the time interval would have

been the much shorter time taken by your skull to move a couple of

centimeters while your face compressed. Note that either way, the

same amount of momentum is transferred: the entire momentum of

your head.

Force is deﬁned as a derivative, and the derivative of a sum is

the sum of the derivatives. Therefore force is additive: when more

than one force acts on an object, you add the forces to ﬁnd out

what happens. An important special case is that forces can cancel.

Consider your body sitting in a chair as you read this book. Let

the positive r axis be upward. The chair’s upward force on you

is represented with a positive number, which cancels out with the

earth’s downward gravitational force, which is negative. The total

rate of momentum transfer into your body is zero, and your body

doesn’t change its momentum.

Finding momentum from force example 20

> An object of mass m starts at rest at t = t

o

. A force varying as

F = bt

−2

, where b is a constant, begins acting on it. Find the

greatest speed it will ever have.

>

F =

dp

dt

dp = Fdt

p =

Fdt + p

o

p = −

b

t

+ p

o

,

where p

o

is a constant of integration. The given initial condition

is that p = 0 at t = t

o

, so we ﬁnd that p

o

= b´t

o

. The negative

term gets closer to zero with increasing time, so the maximum

momentum is achieved by letting t approach inﬁnity. That is, the

object will never stop speeding up, but it will also never surpass a

certain speed. In the limit t → ∞, we identify p

o

as the momen-

tum that the object will approach asymptotically. The maximum

velocity is v = p

o

´m = b´mt

o

.

Discussion Question

A Many collisions, like the collision of a bat with a baseball, appear to

be instantaneous. Most people also would not imagine the bat and ball as

bending or being compressed during the collision. Consider the following

possibilities:

142 Chapter 3 Conservation of Momentum

b / Isaac Newton (1643-1727).

(1) The collision is instantaneous.

(2) The collision takes a ﬁnite amount of time, during which the ball and

bat retain their shapes and remain in contact.

(3) The collision takes a ﬁnite amount of time, during which the ball and

bat are bending or being compressed.

How can two of these be ruled out based on energy or momentum con-

siderations?

3.2.2 Newton’s laws

Although momentum is the third conserved quantity we’ve en-

countered, historically it was the ﬁrst to be discovered. Isaac New-

ton formulated a complete treatment of mechanical systems in terms

of force and momentum. Newton’s theory was based on three laws

of motion, which we now think of as consequences of conservation

of mass, energy, and momentum.

Newton’s laws in one dimension:

Newton’s ﬁrst law: If there is no force acting on an

object, it stays in the same state of motion.

Newton’s second law: The sum of all the forces acting

on an object determines the rate at which its momen-

tum changes, 1

total

= dj´dt.

Newton’s third law: Forces occur in opposite pairs. If

object A interacts with object B, then A’s force on B

and B’s force on A are related by 1

AB

= −1

BA

.

The second law is the deﬁnition of force, which we’ve already en-

countered.

4

The ﬁrst law is a special case of the second law —

if dj´dt is zero, then j = :· is a constant, and since mass is con-

served, constant j implies constant ·. The third law is a restatement

of conservation of momentum: for two objects interacting, we have

constant total momentum, so 0 =

d

dt

(j

A

+ j

B

) = 1

BA

+ 1

AB

.

a=F/m example 21

Many modern textbooks restate Newton’s second law as a =

F´m, i.e., as an equation that predicts an object’s acceleration

based on the force exerted on it. This is easily derived from New-

ton’s original form as follows: a = dv´dt = (dp´dt )´m = F´m.

Gravitational force related to g example 22

As a special case of the previous example, consider an object

in free fall, and let the x axis point down. Then a = +g, and

F = ma = mg. For example, the gravitational force on a 1 kg

mass at the earth’s surface is about 9.8 N. Even if other forces

act on the object, and it isn’t in free fall, the gravitational force on

it is still the same, and can still be calculated as mg.

4

This is with the beneﬁt of hindsight. At the time, the word “force” already

had certain connotations, and people thought they understood what it meant

and how to measure it, e.g., by using a spring scale. From their point of view,

F = dp/dt was not a deﬁnition but a testable — and controversial! — statement.

Section 3.2 Force in One Dimension 143

c / Two magnets exert forces

on each other.

d / It doesn’t make sense for

the man to talk about the

woman’s money canceling out his

bar tab, because there is no good

reason to combine his debts and

her assets.

e / Newton’s third law does

not mean that forces always can-

cel out so that nothing can ever

move. If these two ice skaters,

initially at rest, push against each

other, they will both move.

Changing frames of reference example 23

Suppose we change fromone frame reference into another, which

is moving relative to the ﬁrst one at a constant velocity u. If an

object of mass m is moving at velocity v (which need not be con-

stant), then the effect is to change its momentum from mv in one

frame to mv +mu in the other. Force is deﬁned as the derivative of

momentum with respect to time, and the derivative of a constant

is zero, so adding the constant mu has no effect on the result.

We therefore conclude that observers in different inertial frames

of reference agree on forces.

Using the third law correctly

If you’ve already accepted Galilean relativity in your heart, then

there is nothing really diﬃcult about the ﬁrst and second laws. The

third law, however, is more of a conceptual challenge. The ﬁrst

hurdle is that it is counterintuitive. Is it really true that if a ﬁghter

jet collides with a mosquito, the mosquito’s force on the jet is just

as strong as the jet’s force on the mosquito? Yes, it is true, but it

is hard to believe at ﬁrst. That amount of force simply has more of

an eﬀect on the mosquito, because it has less mass.

A more humane and practical experiment is shown in ﬁgure c. A

large magnet and a small magnet are weighed separately, and then

one magnet is hung from the pan of the top balance so that it is

directly above the other magnet. There is an attraction between the

two magnets, causing the reading on the top scale to increase and the

reading on the bottom scale to decrease. The large magnet is more

“powerful” in the sense that it can pick up a heavier paperclip from

the same distance, so many people have a strong expectation that

one scale’s reading will change by a far diﬀerent amount than the

other. Instead, we ﬁnd that the two changes are equal in magnitude

but opposite in direction, so the upward force of the top magnet on

the bottom magnet is of the same magnitude as the downward force

of the bottom magnet on the top magnet.

To students, it often sounds as though Newton’s third law im-

plies nothing could ever change its motion, since the two equal and

opposite forces would always cancel. As illustrated in ﬁgure d, the

fallacy arises from assuming that we can add things that it doesn’t

make sense to add. It only makes sense to add up forces that are

acting on the same object, whereas two forces related to each other

by Newton’s third law are always acting on two diﬀerent objects.

If two objects are interacting via a force and no other forces are

involved, then both objects will accelerate — in opposite directions,

as shown in ﬁgure e!

Here are some suggestions for avoiding misapplication of New-

ton’s third law:

144 Chapter 3 Conservation of Momentum

g / A coin slides across a ta-

ble. Even for motion in one

dimension, some of the forces

may not lie along the line of the

motion.

f / A swimmer doing the breast

stroke pushes backward against

the water. By Newton’s third law,

the water pushes forward on her.

1. It always relates exactly two forces, not more.

2. The two forces involve exactly two objects, in the pattern A

on B, B on A.

3. The two forces are always of the same type, e.g., friction and

friction, or gravity and gravity.

Directions of forces

We’ve already seen that momentum, unlike energy, has a direc-

tion in space. Since force is deﬁned in terms of momentum, force

also has a direction in space. For motion in one dimension, we

have to pick a coordinate system, and given that choice, forces and

momenta will be positive or negative. We’ve already used signs to

represent directions of forces in Newton’s third law, 1

AB

= −1

BA

.

There is, however, a complication with force that we were able

to avoid with momentum. If an object is moving on a line, we’re

guaranteed that its momentum is in one of two directions: the two

directions along the line. But even an object that stays on a line

may still be subject to forces that act perpendicular to the line. For

example, suppose a coin is sliding to the right across a table, g, and

let’s choose a positive r axis that points to the right. The coin’s

motion is along a horizontal line, and its momentum is positive and

decreasing. Because the momentum is decreasing, its time derivative

dj´dt is negative. This derivative equals the horizontal force of

friction 1

1

, and its negative sign tells us that this force on the coin

is to the left.

But there are also vertical forces on the coin. The Earth exerts

a downward gravitational force 1

2

on it, and the table makes an

upward force 1

3

that prevents the coin from sinking into the wood.

In fact, without these vertical forces the horizontal frictional force

wouldn’t exist: surfaces don’t exert friction against one another

unless they are being pressed together.

To avoid mathematical complication, we want to postpone the

full three-dimensional treatment of force and momentum until sec-

tion 3.4. For now, we’ll limit ourselves to examples like the coin, in

which the motion is conﬁned to a line, and any forces perpendicular

to the line cancel each other out.

Discussion Questions

A Criticize the following incorrect statement:

“If an object is at rest and the total force on it is zero, it stays at rest.

There can also be cases where an object is moving and keeps on moving

without having any total force on it, but that can only happen when there’s

no friction, like in outer space.”

Section 3.2 Force in One Dimension 145

x (m) t (s)

10 1.84

20 2.86

30 3.80

40 4.67

50 5.53

60 6.38

70 7.23

80 8.10

90 8.96

100 9.83

Discussion question B.

B The table gives laser timing data for Ben Johnson’s 100 m dash at the

1987 World Championship in Rome. (His world record was later revoked

because he tested positive for steroids.) How does the total force on him

change over the duration of the race?

C You hit a tennis ball against a wall. Explain any and all incorrect

ideas in the following description of the physics involved: “According to

Newton’s third law, there has to be a force opposite to your force on the

ball. The opposite force is the ball’s mass, which resists acceleration, and

also air resistance.”

D Tam Anh grabs Sarah by the hand and tries to pull her. She tries

to remain standing without moving. A student analyzes the situation as

follows. “If Tam Anh’s force on Sarah is greater than her force on him,

he can get her to move. Otherwise, she’ll be able to stay where she is.”

What’s wrong with this analysis?

3.2.3 What force is not

Violin teachers have to endure their beginning students’ screech-

ing. A frown appears on the woodwind teacher’s face as she watches

her student take a breath with an expansion of his ribcage but none

in his belly. What makes physics teachers cringe is their students’

verbal statements about forces. Below I have listed several dicta

about what force is not.

Force is not a property of one object.

A great many of students’ incorrect descriptions of forces could

be cured by keeping in mind that a force is an interaction of two

objects, not a property of one object.

Incorrect statement: “That magnet has a lot of force.”

If the magnet is one millimeter away from a steel ball bearing, they

may exert a very strong attraction on each other, but if they were a

meter apart, the force would be virtually undetectable. The magnet’s

strength can be rated using certain electrical units (ampere −meters

2

),

but not in units of force.

Force is not a measure of an object’s motion.

If force is not a property of a single object, then it cannot be

used as a measure of the object’s motion.

Incorrect statement: “The freight train rumbled down the tracks with

awesome force.”

Force is not a measure of motion. If the freight train collides with a

stalled cement truck, then some awesome forces will occur, but if it hits

a ﬂy the force will be small.

Force is not energy.

Incorrect statement: “How can my chair be making an upward force on

my rear end? It has no power!”

Power is a concept related to energy, e.g., a 100-watt lightbulb uses

up 100 joules per second of energy. When you sit in a chair, no energy

is used up, so forces can exist between you and the chair without any

146 Chapter 3 Conservation of Momentum

need for a source of power.

Force is not stored or used up.

Because energy can be stored and used up, people think force

also can be stored or used up.

Incorrect statement: “If you don’t ﬁll up your tank with gas, you’ll run

out of force.”

Energy is what you’ll run out of, not force.

Forces need not be exerted by living things or machines.

Transforming energy from one form into another usually requires

some kind of living or mechanical mechanism. The concept is not

applicable to forces, which are an interaction between objects, not

a thing to be transferred or transformed.

Incorrect statement: “How can a wooden bench be making an upward

force on my rear end? It doesn’t have any springs or anything inside it.”

No springs or other internal mechanisms are required. If the bench

didn’t make any force on you, you would obey Newton’s second law and

fall through it. Evidently it does make a force on you!

A force is the direct cause of a change in motion.

I can click a remote control to make my garage door change from

being at rest to being in motion. My ﬁnger’s force on the button,

however, was not the force that acted on the door. When we speak

of a force on an object in physics, we are talking about a force that

acts directly. Similarly, when you pull a reluctant dog along by its

leash, the leash and the dog are making forces on each other, not

your hand and the dog. The dog is not even touching your hand.

self-check B

Which of the following things can be correctly described in terms of

force?

(1) A nuclear submarine is charging ahead at full steam.

(2) A nuclear submarine’s propellers spin in the water.

(3) A nuclear submarine needs to refuel its reactor periodically. >

Answer, p. 860

Discussion Questions

A Criticize the following incorrect statement: “If you shove a book

across a table, friction takes away more and more of its force, until ﬁnally

it stops.”

B You hit a tennis ball against a wall. Explain any and all incorrect

ideas in the following description of the physics involved: “The ball gets

some force from you when you hit it, and when it hits the wall, it loses part

of that force, so it doesn’t bounce back as fast. The muscles in your arm

are the only things that a force can come from.”

Section 3.2 Force in One Dimension 147

3.2.4 Forces between solids

Conservation laws are more fundamental than Newton’s laws,

and they apply where Newton’s laws don’t, e.g., to light and to the

internal structure of atoms. However, there are certain problems

that are much easier to solve using Newton’s laws. As a trivial

example, if you drop a rock, it could conserve momentum and energy

by levitating, or by falling in the usual manner.

5

With Newton’s

laws, however, we can reason that o = 1´:, so the rock must

respond to the gravitational force by accelerating.

Less trivially, suppose a person is hanging onto a rope, and we

want to know if she will slip. Unlike the case of the levitating rock,

here the no-motion solution could be perfectly reasonable if her grip

is strong enough. We know that her hand’s interaction with the rope

is fundamentally an electrical interaction between the atoms in the

surface of her palm and the nearby atoms in the surface of the rope.

For practical problem-solving, however, this is a case where we’re

better oﬀ forgetting the fundamental classiﬁcation of interactions

at the atomic level and working with a more practical, everyday

classiﬁcation of forces. In this practical scheme, we have three types

of forces that can occur between solid objects in contact:

A normal force, 1

n

, is perpendicular to the surface of con-

tact, and prevents objects from pass-

ing through each other by becoming as

strong as necessary (up to the point

where the objects break). “Normal”

means perpendicular.

Static friction, 1

s

, is parallel to the surface of contact, and

prevents the surfaces from starting to

slip by becoming as strong as neces-

sary, up to a maximum value of 1

s,max

.

“Static” means not moving, i.e., not

slipping.

Kinetic friction, 1

k

, is parallel to the surface of contact, and

tends to slow down any slippage once

it starts. “Kinetic” means moving, i.e.,

slipping.

self-check C

Can a frictionless surface exert a normal force? Can a frictional force

exist without a normal force? > Answer, p. 860

If you put a coin on this page, which is horizontal, gravity pulls

down on the coin, but the atoms in the paper and the coin repel each

other electrically, and the atoms are compressed until the repulsion

becomes strong enough to stop the downward motion of the coin.

We describe this complicated and invisible atomic process by saying

5

This pathological solution was ﬁrst noted on page 83, and discussed in more

detail on page 846.

148 Chapter 3 Conservation of Momentum

h / Static friction: the tray doesn’t

slip on the waiter’s ﬁngers.

i / Kinetic friction: the car skids.

that the paper makes an upward normal force on the coin, and the

coin makes a downward normal force on the paper. (The two normal

forces are related by Newton’s third law. In fact, Newton’s third law

only relates forces that are of the same type.)

If you now tilt the book a little, static friction keeps the coin

from slipping. The picture at the microscopic level is even more

complicated than the previous description of the normal force. One

model is to think of the tiny bumps and depressions in the coin

as settling into the similar irregularities in the paper. This model

predicts that rougher surfaces should have more friction, which is

sometimes true but not always. Two very smooth, clean glass sur-

faces or very well ﬁnished machined metal surfaces may actually

stick better than rougher surfaces would, the probable explanation

being that there is some kind of chemical bonding going on, and the

smoother surfaces allow more atoms to be in contact.

Finally, as you tilt the book more and more, there comes a point

where static friction reaches its maximum value. The surfaces be-

come unstuck, and the coin begins to slide over the paper. Kinetic

friction slows down this slipping motion signiﬁcantly. In terms of en-

ergy, kinetic friction is converting mechanical energy into heat, just

like when you rub your hands together to keep warm. One model

of kinetic friction is that the tiny irregularities in the two surfaces

bump against each other, causing vibrations whose energy rapidly

converts to heat and sound — you can hear this sound if you rub

your ﬁngers together near your ear.

For dry surfaces, experiments show that the following equations

usually work fairly well:

1

s,max

≈ j

s

1

n

,

and

1

k

≈ j

k

1

n

,

where j

s

, the coeﬃcient of static friction, and j

k

, the coeﬃcient of

kinetic friction, are constants that depend on the properties of the

two surfaces, such as what they’re made of and how rough they are.

self-check D

1. When a baseball player slides in to a base, is the friction static, or

kinetic?

2. A mattress stays on the roof of a slowly accelerating car. Is the

friction static, or kinetic?

3. Does static friction create heat? Kinetic friction? > Answer, p. 860

Section 3.2 Force in One Dimension 149

Maximum acceleration of a car example 24

> Rubber on asphalt gives µ

k

≈ 0.4 and µ

s

≈ 0.6. What is the

upper limit on a car’s acceleration on a ﬂat road, assuming that

the engine has plenty of power and that air friction is negligible?

> This isn’t a ﬂying car, so we don’t expect it to accelerate verti-

cally. The vertical forces acting on the car should cancel out. The

earth makes a downward gravitational force on the car whose

absolute value is mg, so the road apparently makes an upward

normal force of the same magnitude, F

n

= mg.

Now what about the horizontal motion? As is always true, the co-

efﬁcient of static friction is greater than the coefﬁcient of kinetic

friction, so the maximum acceleration is obtained with static fric-

tion, i.e., the driver should try not to burn rubber. The maximum

force of static friction is F

s,max

= µ

s

F

n

= µ

s

mg. The maximum

acceleration is a = F

s

´m = µ

s

g ≈ 6 m´s

2

. This is true regard-

less of how big the tires are, since the experimentally determined

relationship F

s,max

= µ

s

F

n

is independent of surface area.

self-check E

Find the direction of each of the forces in ﬁgure j. > Answer, p. 860

j / 1. The cliff’s normal force on

the climber’s feet. 2. The track’s

static frictional force on the wheel

of the accelerating dragster. 3.

The ball’s normal force on the

bat.

Locomotives example 25

Looking at a picture of a locomotive, k, we notice two obvious

things that are different from an automobile. Where a car typi-

cally has two drive wheels, a locomotive normally has many —

ten in this example. (Some also have smaller, unpowered wheels

in front of and behind the drive wheels, but this example doesn’t.)

Also, cars these days are generally built to be as light as possi-

ble for their size, whereas locomotives are very massive, and no

effort seems to be made to keep their weight low. (The steam

locomotive in the photo is from about 1900, but this is true even

for modern diesel and electric trains.)

The reason locomotives are built to be so heavy is for traction.

The upward normal force of the rails on the wheels, F

N

, cancels

the downward force of gravity, F

W

, so ignoring plus and minus

signs, these two forces are equal in absolute value, F

N

= F

W

.

Given this amount of normal force, the maximum force of static

150 Chapter 3 Conservation of Momentum

l / The wheelbases of the

Hummer H3 and the Toyota Prius

are surprisingly similar, differing

by only 10%. The main difference

in shape is that the Hummer is

much taller and wider. It presents

a much greater cross-sectional

area to the wind, and this is the

main reason that it uses about 2.5

times more gas on the freeway.

k / Example 25.

friction is F

s

= µ

s

F

N

= µ

s

F

W

. This static frictional force, of the

rails pushing forward on the wheels, is the only force that can

accelerate the train, pull it uphill, or cancel out the force of air

resistance while cruising at constant speed. The coefﬁcient of

static friction for steel on steel is about 1/4, so no locomotive can

pull with a force greater than about 1/4 of its own weight. If the

engine is capable of supplying more than that amount of force, the

result will be simply to break static friction and spin the wheels.

The reason this is all so different from the situation with a car is

that a car isn’t pulling something else. If you put extra weight in

a car, you improve the traction, but you also increase the inertia

of the car, and make it just as hard to accelerate. In a train, the

inertia is almost all in the cars being pulled, not in the locomotive.

The other fact we have to explain is the large number of driv-

ing wheels. First, we have to realize that increasing the num-

ber of driving wheels neither increases nor decreases the total

amount of static friction, because static friction is independent of

the amount of surface area in contact. (The reason four-wheel-

drive is good in a car is that if one or more of the wheels is slip-

ping on ice or in mud, the other wheels may still have traction.

This isn’t typically an issue for a train, since all the wheels experi-

ence the same conditions.) The advantage of having more driving

wheels on a train is that it allows us to increase the weight of the

locomotive without crushing the rails, or damaging bridges.

3.2.5 Fluid friction

Try to drive a nail into a waterfall and you will be confronted

with the main diﬀerence between solid friction and ﬂuid friction.

Fluid friction is purely kinetic; there is no static ﬂuid friction. The

nail in the waterfall may tend to get dragged along by the water

ﬂowing past it, but it does not stick in the water. The same is true

for gases such as air: recall that we are using the word “ﬂuid” to

include both gases and liquids.

Unlike kinetic friction between solids, ﬂuid friction increases

rapidly with velocity. It also depends on the shape of the object,

which is why a ﬁghter jet is more streamlined than a Model T. For

objects of the same shape but diﬀerent sizes, ﬂuid friction typically

scales up with the cross-sectional area of the object, which is one

of the main reasons that an SUV gets worse mileage on the freeway

than a compact car.

Section 3.2 Force in One Dimension 151

Discussion Question

A Criticize the following analysis: “A book is sitting on a table. I shove

it, overcoming static friction. Then it slows down until it has less force than

static friction, and it stops.”

3.2.6 Analysis of forces

Newton’s ﬁrst and second laws deal with the total of all the

forces exerted on a speciﬁc object, so it is very important to be able

to ﬁgure out what forces there are. Once you have focused your

attention on one object and listed the forces on it, it is also helpful

to describe all the corresponding forces that must exist according

to Newton’s third law. We refer to this as “analyzing the forces” in

which the object participates.

A barge example 26

A barge is being pulled along a canal by teams of horses on the shores. Analyze all the forces in which the

barge participates.

force acting on barge force related to it by Newton’s third law

ropes’ forward normal forces on barge barge’s backward normal force on ropes

water’s backward ﬂuid friction force on barge barge’s forward ﬂuid friction force on water

planet earth’s downward gravitational force

on barge

barge’s upward gravitational force on earth

water’s upward “ﬂoating” force on barge barge’s downward “ﬂoating” force on water

Here I’ve used the word “ﬂoating” force as an example of a sensible invented term for a type of force not

classiﬁed on the tree in the previous section. A more formal technical term would be “hydrostatic force.”

Note how the pairs of forces are all structured as “A’s force on B, B’s force on A”: ropes on barge and barge

on ropes; water on barge and barge on water. Because all the forces in the left column are forces acting on

the barge, all the forces in the right column are forces being exerted by the barge, which is why each entry in

the column begins with “barge.”

Often you may be unsure whether you have missed one of the

forces. Here are three strategies for checking your list:

See what physical result would come from the forces you’ve

found so far. Suppose, for instance, that you’d forgotten the

“ﬂoating” force on the barge in the example above. Looking

at the forces you’d found, you would have found that there

was a downward gravitational force on the barge which was

not canceled by any upward force. The barge isn’t supposed

to sink, so you know you need to ﬁnd a fourth, upward force.

Whenever one solid object touches another, there will be a

normal force, and possibly also a frictional force; check for

both.

Make a drawing of the object, and draw a dashed boundary

line around it that separates it from its environment. Look for

points on the boundary where other objects come in contact

with your object. This strategy guarantees that you’ll ﬁnd

every contact force that acts on the object, although it won’t

help you to ﬁnd non-contact forces.

152 Chapter 3 Conservation of Momentum

Discussion question D.

The following is another example in which we can proﬁt by check-

ing against our physical intuition for what should be happening.

Rappelling example 27

As shown in the ﬁgure below, Cindy is rappelling down a cliff. Her downward motion is at constant speed, and

she takes little hops off of the cliff, as shown by the dashed line. Analyze the forces in which she participates

at a moment when her feet are on the cliff and she is pushing off.

force acting on Cindy force related to it by Newton’s third law

planet earth’s downward gravitational force

on Cindy

Cindy’s upward gravitational force on earth

ropes upward frictional force on Cindy (her

hand)

Cindy’s downward frictional force on the rope

cliff’s rightward normal force on Cindy Cindy’s leftward normal force on the cliff

The two vertical forces cancel, which is what they should be doing if she is to go down at a constant rate. The

only horizontal force on her is the cliff’s force, which is not canceled by any other force, and which therefore

will produce an acceleration of Cindy to the right. This makes sense, since she is hopping off. (This solution

is a little oversimpliﬁed, because the rope is slanting, so it also applies a small leftward force to Cindy. As she

ﬂies out to the right, the slant of the rope will increase, pulling her back in more strongly.)

I believe that constructing the type of table described in this

section is the best method for beginning students. Most textbooks,

however, prescribe a pictorial way of showing all the forces acting on

an object. Such a picture is called a free-body diagram. It should

not be a big problem if a future physics professor expects you to

be able to draw such diagrams, because the conceptual reasoning

is the same. You simply draw a picture of the object, with arrows

representing the forces that are acting on it. Arrows representing

contact forces are drawn from the point of contact, noncontact forces

from the center of mass. Free-body diagrams do not show the equal

and opposite forces exerted by the object itself.

Discussion Questions

A When you ﬁre a gun, the exploding gases push outward in all direc-

tions, causing the bullet to accelerate down the barrel. What Newton’s-

third-law pairs are involved? [Hint: Remember that the gases themselves

are an object.]

B In the example of the barge going down the canal, I referred to

a “ﬂoating” or “hydrostatic” force that keeps the boat from sinking. If you

were adding a new branch on the force-classiﬁcation tree to represent this

force, where would it go?

Section 3.2 Force in One Dimension 153

C A pool ball is rebounding from the side of the pool table. Analyze

the forces in which the ball participates during the short time when it is in

contact with the side of the table.

D The earth’s gravitational force on you, i.e., your weight, is always

equal to mg, where m is your mass. So why can you get a shovel to go

deeper into the ground by jumping onto it? Just because you’re jumping,

that doesn’t mean your mass or weight is any greater, does it?

3.2.7 Transmission of forces by low-mass objects

You’re walking your dog. The dog wants to go faster than you

do, and the leash is taut. Does Newton’s third law guarantee that

your force on your end of the leash is equal and opposite to the dog’s

force on its end? If they’re not exactly equal, is there any reason

why they should be approximately equal?

If there was no leash between you, and you were in direct contact

with the dog, then Newton’s third law would apply, but Newton’s

third law cannot relate your force on the leash to the dog’s force

on the leash, because that would involve three separate objects.

Newton’s third law only says that your force on the leash is equal

and opposite to the leash’s force on you,

1

yL

= −1

Ly

,

and that the dog’s force on the leash is equal and opposite to its

force on the dog

1

dL

= −1

Ld

.

Still, we have a strong intuitive expectation that whatever force we

make on our end of the leash is transmitted to the dog, and vice-

versa. We can analyze the situation by concentrating on the forces

that act on the leash, 1

dL

and 1

yL

. According to Newton’s second

law, these relate to the leash’s mass and acceleration:

1

dL

+ 1

yL

= :

L

o

L

.

The leash is far less massive then any of the other objects involved,

and if :

L

is very small, then apparently the total force on the leash

is also very small, 1

dL

+ 1

yL

≈ 0, and therefore

1

dL

≈ −1

yL

.

Thus even though Newton’s third law does not apply directly to

these two forces, we can approximate the low-mass leash as if it was

not intervening between you and the dog. It’s at least approximately

as if you and the dog were acting directly on each other, in which

case Newton’s third law would have applied.

In general, low-mass objects can be treated approximately as if

they simply transmitted forces from one object to another. This can

be true for strings, ropes, and cords, and also for rigid objects such

as rods and sticks.

154 Chapter 3 Conservation of Momentum

n / The Golden Gate Bridge’s

roadway is held up by the tension

in the vertical cables.

m / If we imagine dividing a taut rope up into small segments, then

any segment has forces pulling outward on it at each end. If the rope

is of negligible mass, then all the forces equal +T or −T, where T, the

tension, is a single number.

If you look at a piece of string under a magnifying glass as you

pull on the ends more and more strongly, you will see the ﬁbers

straightening and becoming taut. Diﬀerent parts of the string are

apparently exerting forces on each other. For instance, if we think of

the two halves of the string as two objects, then each half is exerting

a force on the other half. If we imagine the string as consisting

of many small parts, then each segment is transmitting a force to

the next segment, and if the string has very little mass, then all

the forces are equal in magnitude. We refer to the magnitude of

the forces as the tension in the string, T. Although the tension

is measured in units of Newtons, it is not itself a force. There are

many forces within the string, some in one direction and some in the

other direction, and their magnitudes are only approximately equal.

The concept of tension only makes sense as a general, approximate

statement of how big all the forces are.

If a rope goes over a pulley or around some other object, then the

tension throughout the rope is approximately equal so long as there

is not too much friction. A rod or stick can be treated in much the

same way as a string, but it is possible to have either compression

or tension.

Since tension is not a type of force, the force exerted by a rope

on some other object must be of some deﬁnite type such as static

friction, kinetic friction, or a normal force. If you hold your dog’s

leash with your hand through the loop, then the force exerted by the

leash on your hand is a normal force: it is the force that keeps the

leash from occupying the same space as your hand. If you grasp a

plain end of a rope, then the force between the rope and your hand

is a frictional force.

A more complex example of transmission of forces is the way

a car accelerates. Many people would describe the car’s engine as

making the force that accelerates the car, but the engine is part of

the car, so that’s impossible: objects can’t make forces on them-

selves. What really happens is that the engine’s force is transmitted

through the transmission to the axles, then through the tires to the

road. By Newton’s third law, there will thus be a forward force from

the road on the tires, which accelerates the car.

Section 3.2 Force in One Dimension 155

Discussion Question

A When you step on the gas pedal, is your foot’s force being transmitted

in the sense of the word used in this section?

3.2.8 Work

Energy transferred to a particle

To change the kinetic energy, 1 = (1´2):·

2

, of a particle mov-

ing in one dimension, we must change its velocity. That will entail a

change in its momentum, j = :·, as well, and since force is the rate

of transfer of momentum, we conclude that the only way to change

a particle’s kinetic energy is to apply a force.

6

A force in the same

direction as the motion speeds it up, increasing the kinetic energy,

while a force in the opposite direction slows it down.

Consider an inﬁnitesimal time interval during which the particle

moves an inﬁnitesimal distance dr, and its kinetic energy changes

by d1. In one dimension, we represent the direction of the force

and the direction of the motion with positive and negative signs for

1 and dr, so the relationship among the signs can be summarized

as follows:

1 0 dr 0 d1 0

1 < 0 dr < 0 d1 0

1 0 dr < 0 d1 < 0

1 < 0 dr 0 d1 < 0

This looks exactly like the rule for determining the sign of a product,

and we can easily show using the chain rule that this is indeed a

multiplicative relationship:

d1 =

d1

d·

d·

dt

dt

dr

dr [chain rule]

= (:·)(o)(1´·)dr

= :o dr

= 1 dr [Newton’s second law]

6

The converse isn’t true, because kinetic energy doesn’t depend on the di-

rection of motion, but momentum does. We can change a particle’s momentum

without changing its energy, as when a pool ball bounces oﬀ a bumper, reversing

the sign of p.

156 Chapter 3 Conservation of Momentum

We can verify that force multiplied by distance has units of energy:

Nm =

kgm´s

s

m

= kgm

2

´s

2

= J

A TV picture tube example 28

> At the back of a typical TV’s picture tube, electrical forces accel-

erate each electron to an energy of 5 10

−16

J over a distance

of about 1 cm. How much force is applied to a single electron?

(Assume the force is constant.) What is the corresponding accel-

eration?

> Integrating

dK = Fdx ,

we ﬁnd

K

f

−K

i

= F(x

f

−x

i

)

or

∆K = F∆x .

The force is

F = ∆K´∆x

=

5 10

−16

J

0.01 m

= 5 10

−14

N .

This may not sound like an impressive force, but it’s enough to

supply an electron with a spectacular acceleration. Looking up

the mass of an electron on p. 879, we ﬁnd

a = F´m

= 5 10

16

m´s

2

.

Section 3.2 Force in One Dimension 157

p / The black box does work

by reeling in its cable.

o / A simpliﬁed drawing of an

airgun.

An air gun example 29

> An airgun, ﬁgure o, uses compressed air to accelerate a pellet.

As the pellet moves from x

1

to x

2

, the air decompresses, so the

force is not constant. Using methods from chapter 5, one can

show that the air’s force on the pellet is given by F = bx

-7/5

. A

typical high-end airgun used for competitive target shooting has

x

1

= 0.046 m ,

x

2

= 0.41 m ,

and

b = 4.4 Nm

7/5

.

What is the kinetic energy of the pellet when it leaves the muzzle?

(Assume friction is negligible.)

> Since the force isn’t constant, it would be incorrect to do F =

∆K´∆x. Integrating both sides of the equation dK = Fdx, we

have

∆K =

x

2

x

1

Fdx

= −

5b

2

x

-2/5

2

−x

-2/5

1

= 22 J

In general, when energy is transferred by a force,

7

we use the

term work to refer to the amount of energy transferred. This is dif-

ferent from the way the word is used in ordinary speech. If you stand

for a long time holding a bag of cement, you get tired, and everyone

will agree that you’ve worked hard, but you haven’t changed the en-

ergy of the cement, so according to the deﬁnition of the physics term,

you haven’t done any work on the bag. There has been an energy

transformation inside your body, of chemical energy into heat, but

this just means that one part of your body did positive work (lost

energy) while another part did a corresponding amount of negative

work (gained energy).

Work in general

I derived the expression 1dr for one particular type of kinetic-

energy transfer, the work done in accelerating a particle, and then

deﬁned work as a more general term. Is the equation correct for

other types of work as well? For example, if a force lifts a mass :

against the resistance of gravity at constant velocity, the increase in

the mass’s gravitational energy is d(:on) = :odn = 1dn, so again

7

The part of the deﬁnition about “by a force” is meant to exclude the transfer

of energy by heat conduction, as when a stove heats soup.

158 Chapter 3 Conservation of Momentum

q / The wheel spinning in the

air has K

cm

= 0. The space

shuttle has all its kinetic energy

in the form of center of mass

motion, K = K

cm

. The rolling

ball has some, but not all, of its

energy in the form of center of

mass motion, K

cm

< K.(Space

Shuttle photo by NASA)

the equation works, but this still doesn’t prove that the equation is

always correct as a way of calculating energy transfers.

Imagine a black box

8

, containing a gasoline-powered engine,

which is designed to reel in a steel cable, exerting a certain force

1. For simplicity, we imagine that this force is always constant, so

we can talk about ∆r rather than an inﬁnitesimal dr. If this black

box is used to accelerate a particle (or any mass without internal

structure), and no other forces act on the particle, then the original

derivation applies, and the work done by the box is \ = 1∆r.

Since 1 is constant, the box will run out of gas after reeling in a

certain amount of cable ∆r. The chemical energy inside the box

has decreased by −\, while the mass being accelerated has gained

\ worth of kinetic energy.

9

Now what if we use the black box to pull a plow? The energy in-

crease in the outside world is of a diﬀerent type than before; it takes

the forms of (1) the gravitational energy of the dirt that has been

lifted out to the sides of the furrow, (2) frictional heating of the dirt

and the plowshare, and (3) the energy needed to break up the dirt

clods (a form of electrical energy involving the attractions among

the atoms in the clod). The box, however, only communicates with

the outside world via the hole through which its cable passes. The

amount of chemical energy lost by the gasoline can therefore only

depend on 1 and ∆r, so it is the same −\ as when the box was

being used to accelerate a mass, and thus by conservation of energy,

the work done on the outside world is again \.

This is starting to sound like a proof that the force-times-distance

method is always correct, but there was one subtle assumption in-

volved, which was that the force was exerted at one point (the end of

the cable, in the black box example). Real life often isn’t like that.

For example, a cyclist exerts forces on both pedals at once. Serious

cyclists use toe-clips, and the conventional wisdom is that one should

use equal amounts of force on the upstroke and downstroke, to make

full use of both sets of muscles. This is a two-dimensional example,

since the pedals go in circles. We’re only discussing one-dimensional

motion right now, so let’s just pretend that the upstroke and down-

stroke are both executed in straight lines. Since the forces are in

opposite directions, one is positive and one is negative. The cyclist’s

total force on the crank set is zero, but the work done isn’t zero. We

have to add the work done by each stroke, \ = 1

1

∆r

1

+ 1

2

∆r

2

.

(I’m pretending that both forces are constant, so we don’t have to

do integrals.) Both terms are positive; one is a positive number

multiplied by a positive number, while the other is a negative times

8

“Black box” is a traditional engineering term for a device whose inner work-

ings we don’t care about.

9

For conceptual simplicity, we ignore the transfer of heat energy to the outside

world via the exhaust and radiator. In reality, the sum of these energies plus the

useful kinetic energy transferred would equal W.

Section 3.2 Force in One Dimension 159

a negative.

This might not seem like a big deal — just remember not to use

the total force — but there are many situations where the total force

is all we can measure. The ultimate example is heat conduction.

Heat conduction is not supposed to be counted as a form of work,

since it occurs without a force. But at the atomic level, there are

forces, and work is done by one atom on another. When you hold a

hot potato in your hand, the transfer of heat energy through your

skin takes place with a total force that’s extremely close to zero.

At the atomic level, atoms in your skin are interacting electrically

with atoms in the potato, but the attractions and repulsions add

up to zero total force. It’s just like the cyclist’s feet acting on the

pedals, but with zillions of forces involved instead of two. There is

no practical way to measure all the individual forces, and therefore

we can’t calculate the total energy transferred.

To summarize,

¸

1

j

dr

j

is a correct way of calculating work,

where 1

j

is the individual force acting on particle ,, which moves a

distance dr

j

. However, this is only useful if you can identify all the

individual forces and determine the distance moved at each point of

contact. For convenience, I’ll refer to this as the work theorem. (It

doesn’t have a standard name.)

There is, however, something useful we can do with the total

force. We can use it to calculate the part of the work done on an

object that consists of a change in the kinetic energy it has due to

the motion of its center of mass. The proof is essentially the same

as the proof on 156, except that now we don’t assume the force is

acting on a single particle, so we have to be a little more delicate.

Let the object consist of n particles. Its total kinetic energy is

1 =

¸

n

j=1

(1´2):

j

·

2

j

, but this is what we’ve already realized can’t

be calculated using the total force. The kinetic energy it has due to

motion of its center of mass is

1

cm

=

1

2

:

total

·

2

cm

.

Figure q shows some examples of the distinction between 1

cm

and

1. Diﬀerentiating 1

cm

, we have

d1

cm

= :

total

·

cm

d·

cm

= :

total

·

cm

d·

cm

dt

dt

dr

cm

dr

cm

[chain rule]

= :

total

d·

cm

dt

dr

cm

[dt´dr

cm

= 1´·

cm

]

=

dj

total

dt

dr

cm

[j

total

= :

total

·

cm

]

= 1

total

dr

cm

I’ll call this the kinetic energy theorem — like the work theorem, it

160 Chapter 3 Conservation of Momentum

has no standard name.

An ice skater pushing off from a wall example 30

The kinetic energy theorem tells us how to calculate the skater’s

kinetic energy if we know the amount of force and the distance

her center of mass travels while she is pushing off.

The work theorem tells us that the wall does no work on the

skater, since the point of contact isn’t moving. This makes sense,

because the wall does not have any source of energy.

Absorbing an impact without recoiling? example 31

> Is it possible to absorb an impact without recoiling? For in-

stance, if a ping-pong ball hits a brick wall, does the wall “give” at

all?

> There will always be a recoil. In the example proposed, the wall

will surely have some energy transferred to it in the form of heat

and vibration. The work theorem tells us that we can only have

an energy transfer if the distance traveled by the point of contact

is nonzero.

Dragging a refrigerator at constant velocity example 32

The fridge’s momentum is constant, so there is no net momen-

tum transfer, and the total force on it must be zero: your force

is canceling the ﬂoor’s kinetic frictional force. The kinetic energy

theorem is therefore true but useless. It tells us that there is zero

total force on the refrigerator, and that the refrigerator’s kinetic

energy doesn’t change.

The work theoremtells us that the work you do equals your hand’s

force on the refrigerator multiplied by the distance traveled. Since

we know the ﬂoor has no source of energy, the only way for the

ﬂoor and refrigerator to gain energy is from the work you do. We

can thus calculate the total heat dissipated by friction in the re-

frigerator and the ﬂoor.

Note that there is no way to ﬁnd how much of the heat is dissi-

pated in the ﬂoor and how much in the refrigerator.

Accelerating a cart example 33

If you push on a cart and accelerate it, there are two forces acting

on the cart: your hand’s force, and the static frictional force of the

ground pushing on the wheels in the opposite direction.

Applying the work theorem to your force tells us how to calculate

the work you do.

Applying the work theorem to the ﬂoor’s force tells us that the

ﬂoor does no work on the cart. There is no motion at the point

of contact, because the atoms in the ﬂoor are not moving. (The

atoms in the surface of the wheel are also momentarily at rest

when they touch the ﬂoor.) This makes sense, because the ﬂoor

Section 3.2 Force in One Dimension 161

does not have any source of energy.

The kinetic energy theorem refers to the total force, and because

the ﬂoor’s backward force cancels part of your force, the total

force is less than your force. This tells us that only part of your

work goes into the kinetic energy associated with the forward mo-

tion of the cart’s center of mass. The rest goes into rotation of the

wheels.

Discussion Questions

A Criticize the following incorrect statement: “A force doesn’t do any

work unless it’s causing the object to move.”

B To stop your car, you must ﬁrst have time to react, and then it takes

some time for the car to slow down. Both of these times contribute to the

distance you will travel before you can stop. The ﬁgure shows how the

average stopping distance increases with speed. Because the stopping

distance increases more and more rapidly as you go faster, the rule of

one car length per 10 m.p.h. of speed is not conservative enough at high

speeds. In terms of work and kinetic energy, what is the reason for the

more rapid increase at high speeds?

r / Discussion question B.

162 Chapter 3 Conservation of Momentum

s / The force is transmitted to

the block.

t / A mechanical advantage

of 2.

u / An inclined plane.

3.2.9 Simple machines

Conservation of energy provided the necessary tools for analyz-

ing some mechanical systems, such as the seesaw on page 85 and the

pulley arrangements of the homework problems on page 118, but we

could only analyze those machines by computing the total energy

of the system. That approach wouldn’t work for systems like the

biceps/forearm machine on page 85, or the one in ﬁgure s, where

the energy content of the person’s body is impossible to compute

directly. Even though the seesaw and the biceps/forearm system

were clearly just two diﬀerent forms of the lever, we had no way

to treat them both on the same footing. We can now successfully

attack such problems using the work and kinetic energy theorems.

Constant tension around a pulley example 34

> In ﬁgure s, what is the relationship between the force applied by

the person’s hand and the force exerted on the block?

> If we assume the rope and the pulley are ideal, i.e., frictionless

and massless, then there is no way for them to absorb or release

energy, so the work done by the hand must be the same as the

work done on the block. Since the hand and the block move the

same distance, the work theorem tells us the two forces are the

same.

Similar arguments provide an alternative justiﬁcation for the state-

ment made in section 3.2.7 that show that an idealized rope ex-

erts the same force, the tension, anywhere it’s attached to some-

thing, and the same amount of force is also exerted by each seg-

ment of the rope on the neighboring segments. Going around an

ideal pulley also has no effect on the tension.

This is an example of a simple machine, which is any mechanical

system that manipulates forces to do work. This particular ma-

chine reverses the direction of the motion, but doesn’t change the

force or the speed of motion.

A mechanical advantage example 35

The idealized pulley in ﬁgure t has negligible mass, so its kinetic

energy is zero, and the kinetic energy theorem tells us that the

total force on it is zero. We know, as in the preceding example,

that the two forces pulling it to the right are equal to each other,

so the force on the left must be twice as strong. This simple

machine doubles the applied force, and we refer to this ratio as

a mechanical advantage (M.A.) of 2. There’s no such thing as

a free lunch, however; the distance traveled by the load is cut in

half, and there is no increase in the amount of work done.

Inclined plane and wedge example 36

In ﬁgure u, the force applied by the hand is equal to the one ap-

plied to the load, but there is a mechanical advantage compared

to the force that would have been required to lift the load straight

Section 3.2 Force in One Dimension 163

v / A wedge.

w / Archimedes’ screw

up. The distance traveled up the inclined plane is greater by a

factor of 1/sin θ, so by the work theorem, the force is smaller by

a factor of sin θ, and we have M.A.=1/sin θ. The wedge, v, is

similar.

Archimedes’ screw example 37

In one revolution, the crank travels a distance 2πb, and the water

rises by a height h. The mechanical advantage is 2πb´h.

3.2.10 Force related to interaction energy

In section 2.3, we saw that there were two equivalent ways of

looking at gravity, the gravitational ﬁeld and the gravitational en-

ergy. They were related by the equation dl = :od:, so if we knew

the ﬁeld, we could ﬁnd the energy by integration, l =

:od:, and

if we knew the energy, we could ﬁnd the ﬁeld by diﬀerentiation,

o = (1´:)dl´d:.

The same approach can be applied to other interactions, for

example a mass on a spring. The main diﬀerence is that only in

gravitational interactions does the strength of the interaction de-

pend on the mass of the object, so in general, it doesn’t make sense

to separate out the factor of : as in the equation dl = :od:. Since

1 = :o is the gravitational force, we can rewrite the equation in

the more suggestive form dl = 1d:. This form no longer refers to

gravity speciﬁcally, and can be applied much more generally. The

only remaining detail is that I’ve been fairly cavalier about positive

and negative signs up until now. That wasn’t such a big problem

for gravitational interactions, since gravity is always attractive, but

it requires more careful treatment for nongravitational forces, where

we don’t necessarily know the direction of the force in advance, and

we need to use positive and negative signs carefully for the direction

of the force.

In general, suppose that forces are acting on a particle — we

can think of them as coming from other objects that are “oﬀ stage”

— and that the interaction between the particle and the oﬀ-stage

objects can be characterized by an interaction energy, l, which

depends only on the particle’s position, r. Using the kinetic energy

theorem, we have d1 = 1dr. (It’s not necessary to write 1

cm

, since

a particle can’t have any other kind of kinetic energy.) Conservation

of energy tells us d1 + dl = 0, so the relationship between force

and interaction energy is dl = −1dr, or

1 = −

dl

dr

[relationship between force and interaction energy] .

Force exerted by a spring example 38

> A mass is attached to the end of a spring, and the energy of the

spring is U = (1´2)kx

2

, where x is the position of the mass, and

x = 0 is deﬁned to be the equilibrium position. What is the force

the spring exerts on the mass? Interpret the sign of the result.

164 Chapter 3 Conservation of Momentum

> Differentiating, we ﬁnd

F = −

dU

dx

= −kx .

If x is positive, then the force is negative, i.e., it acts so as to bring

the mass back to equilibrium, and similarly for x < 0 we have

F 0.

Most books do the F = −kx form before the U = (1´2)kx

2

form,

and call it Hooke’s law. Neither form is really more fundamental

than the other — we can always get from one to the other by

integrating or differentiating.

Newton’s law of gravity example 39

> Given the equation U = −Gm

1

m

2

´r for the energy of gravita-

tional interactions, ﬁnd the corresponding equation for the grav-

itational force on mass m

2

. Interpret the positive and negative

signs.

> We have to be a little careful here, because we’ve been taking

r to be positive by deﬁnition, whereas the position, x, of mass m

2

could be positive or negative, depending on which side of m

1

it’s

on.

For positive x, we have r = x, and differentiation gives

F = −

dU

dx

= −Gm

1

m

2

´x

2

.

As in the preceding example, we have F < 0 when x is positive,

because the object is being attracted back toward x = 0.

When x is negative, the relationship between r and x becomes

r = −x, and the result for the force is the same as before, but with

a minus sign. We can combine the two equations by writing

[F[ = Gm

1

m

2

´r

2

,

and this is the form traditionally known as Newton’s law of grav-

ity. As in the preceding example, the U and F equations contain

equivalent information, and neither is more fundamental than the

other.

Equilibrium example 40

I previously described the condition for equilibriumas a local max-

imumor minimumof U. A differentiable function has a zero deriva-

tive at its extrema, and we can now relate this directly to force:

zero force acts on an object when it is at equilibrium.

Section 3.2 Force in One Dimension 165

a / An x-versus-t graph for a

swing pushed at resonance.

b / A swing pushed at twice

its resonant frequency.

c / The F-versus-t graph for

an impulsive driving force.

d / A sinusoidal driving force.

3.3 Resonance

Resonance is a phenomenon in which an oscillator responds most

strongly to a driving force that matches its own natural frequency

of vibration. For example, suppose a child is on a playground swing

with a natural frequency of 1 Hz. That is, if you pull the child

away from equilibrium, release her, and then stop doing anything

for a while, she’ll oscillate at 1 Hz. If there was no friction, as we

assumed in section 2.5, then the sum of her gravitational and kinetic

energy would remain constant, and the amplitude would be exactly

the same from one oscillation to the next. However, friction is going

to convert these forms of energy into heat, so her oscillations would

gradually die out. To keep this from happening, you might give

her a push once per cycle, i.e., the frequency of your pushes would

be 1 Hz, which is the same as the swing’s natural frequency. As

long as you stay in rhythm, the swing responds quite well. If you

start the swing from rest, and then give pushes at 1 Hz, the swing’s

amplitude rapidly builds up, as in ﬁgure a, until after a while it

reaches a steady state in which friction removes just as much energy

as you put in over the course of one cycle.

self-check F

In ﬁgure a, compare the amplitude of the cycle immediately following

the ﬁrst push to the amplitude after the second. Compare the energies

as well. > Answer, p. 860

What will happen if you try pushing at 2 Hz? Your ﬁrst push

puts in some momentum, j, but your second push happens after

only half a cycle, when the swing is coming right back at you, with

momentum −j! The momentum transfer from the second push is

exactly enough to stop the swing. The result is a very weak, and

not very sinusoidal, motion, b.

Making the math easy

This is a simple and physically transparent example of resonance:

the swing responds most strongly if you match its natural rhythm.

However, it has some characteristics that are mathematically ugly

and possibly unrealistic. The quick, hard pushes are known as im-

pulse forces, c, and they lead to an r-t graph that has nondiﬀeren-

tiable kinks. Impulsive forces like this are not only badly behaved

mathematically, they are usually undesirable in practical terms. In

a car engine, for example, the engineers work very hard to make

the force on the pistons change smoothly, to avoid excessive vibra-

tion. Throughout the rest of this section, we’ll assume a driving

force that is sinusoidal, d, i.e., one whose 1-t graph is either a sine

function or a function that diﬀers from a sine wave in phase, such

as a cosine. The force is positive for half of each cycle and negative

for the other half, i.e., there is both pushing and pulling. Sinusoidal

functions have many nice mathematical characteristics (we can dif-

ferentiate and integrate them, and the sum of sinusoidal functions

166 Chapter 3 Conservation of Momentum

that have the same frequency is a sinusoidal function), and they are

also used in many practical situations. For instance, my garage door

zapper sends out a sinusoidal radio wave, and the receiver is tuned

to resonance with it.

A second mathematical issue that I glossed over in the swing

example was how friction behaves. In section 3.2.4, about forces

between solids, the empirical equation for kinetic friction was inde-

pendent of velocity. Fluid friction, on the other hand, is velocity-

dependent. For a child on a swing, ﬂuid friction is the most im-

portant form of friction, and is approximately proportional to ·

2

.

In still other situations, e.g., with a low-density gas or friction be-

tween solid surfaces that have been lubricated with a ﬂuid such as

oil, we may ﬁnd that the frictional force has some other dependence

on velocity, perhaps being proportional to ·, or having some other

complicated velocity dependence that can’t even be expressed with

a simple equation. It would be extremely complicated to have to

treat all of these diﬀerent possibilities in complete generality, so for

the rest of this section, we’ll assume friction proportional to velocity

1 = −/· ,

simply because the resulting equations happen to be the easiest to

solve. Even when the friction doesn’t behave in exactly this way,

many of our results may still be at least qualitatively correct.

3.3.1 Damped, free motion

Numerical treatment

An oscillator that has friction is referred to as damped. Let’s use

numerical techniques to ﬁnd the motion of a damped oscillator that

is released away from equilibrium, but experiences no driving force

after that. We can expect that the motion will consist of oscillations

that gradually die out. In section 2.5, we simulated the undamped

case using our tried and true Python function based on conservation

of energy. Now, however, that approach becomes a little awkward,

because it involves splitting up the path to be traveled into n tiny

segments, but in the presence of damping, each swing is a little

shorter than the last one, and we don’t know in advance exactly

how far the oscillation will get before turning around. An easier

technique here is to use force rather than energy. Newton’s second

law, o = 1´:, gives o = (−/r − /·)´:, where we’ve made use of

the result of example 38 for the force exerted by the spring. This

becomes a little prettier if we rewrite it in the form

:o + /· + /r = 0 ,

which gives symmetric treatment to three terms involving r and its

ﬁrst and second derivatives, · and o. Now instead of calculating

the time ∆t = ∆r´· required to move a predetermined distance

∆r, we pick ∆t and determine the distance traveled in that time,

Section 3.3 Resonance 167

∆r = ·∆t. Also, we can no longer update · based on conservation of

energy, since we don’t have any easy way to keep track of how much

mechanical energy has been changed into heat energy. Instead, we

recalculate the velocity using ∆· = o∆t.

1 import math

2 k=39.4784 # chosen to give a period of 1 second

3 m=1.

4 b=0.211 # chosen to make the results simple

5 x=1.

6 v=0.

7 t=0.

8 dt=.01

9 n=1000

10 for j in range(n):

11 x=x+v*dt

12 a=(-k*x-b*v)/m

13 if (v>0) and (v+a*dt<0) :

14 print "turnaround at t=",t,", x=",x

15 v=v+a*dt

16 t=t+dt

turnaround at t= 0.99 , x= 0.899919262445

turnaround at t= 1.99 , x= 0.809844934046

turnaround at t= 2.99 , x= 0.728777519477

turnaround at t= 3.99 , x= 0.655817260033

turnaround at t= 4.99 , x= 0.590154191135

turnaround at t= 5.99 , x= 0.531059189965

turnaround at t= 6.99 , x= 0.477875914756

turnaround at t= 7.99 , x= 0.430013546991

turnaround at t= 8.99 , x= 0.386940256644

turnaround at t= 9.99 , x= 0.348177318484

The spring constant, / = 4π = 39.4784 N/m, is designed so

that if the undamped equation 1 = (1´2π)

**/´: was still true, the
**

frequency would be 1 Hz. We start by noting that the addition of a

small amount of damping doesn’t seem to have changed the period

at all, or at least not to within the accuracy of the calculation.

10

You can check for yourself, however, that a large value of /, say 5

Ns´m, does change the period signiﬁcantly.

We release the mass from r = 1 m, and after one cycle, it only

comes back to about r = 0.9 m. I chose / = 0.211 Ns´m by ﬁddling

around until I got this result, since a decrease of exactly 10% is

easy to discuss. Notice how the amplitude after two cycles is about

10

This subroutine isn’t as accurate a way of calculating the period as the

energy-based one we used in the undamped case, since it only checks whether

the mass turned around at some point during the time interval ∆t.

168 Chapter 3 Conservation of Momentum

e / A damped sine wave, of

the form x = Ae

−ct

sin(ω

f

t + δ).

f / Self-check G.

0.81 m, i.e., 1 m times 0.9

2

: the amplitude has again dropped by

exactly 10%. This pattern continues for as long as the simulation

runs, e.g., for the last two cycles, we have 0.34818/0.38694=0.89982,

or almost exactly 0.9 again. It might have seemed capricious when I

chose to use the unrealistic equation 1 = −/·, but this is the payoﬀ.

Only with −/· friction do we get this kind of mathematically simple

exponential decay.

Analytic treatment

Taking advantage of this unexpectedly simple result, let’s ﬁnd

an analytic solution for the motion. The numerical output suggests

that we assume a solution of the form

r = ¹c

−ct

sin(ω

f

t + δ) ,

where the unknown constants ω

f

and c will presumably be related to

:, /, and /. The constant c indicates how quickly the oscillations die

out. The constant ω

f

is, as before, deﬁned as 2π times the frequency,

with the subscript 1 to indicate a free (undriven) solution. All

our equations will come out much simpler if we use ωs everywhere

instead of 1s from now on, and, as physicists often do, I’ll generally

use the word “frequency” to refer to ω when the context makes it

clear what I’m talking about. The phase angle δ has no real physical

signiﬁcance, since we can deﬁne t = 0 to be any moment in time we

like.

self-check G

In ﬁgure f, which graph has the greater value of c? > Answer, p. 860

The factor ¹ for the initial amplitude can also be omitted with-

out loss of generality, since the equation we’re trying to solve, :o+

/·+/r = 0 is linear. That is, · and o are the ﬁrst and second deriva-

tives of r, and the derivative of ¹r is simply ¹ times the derivative

of r. Thus, if r(t) is a solution of the equation, then multiplying it

by a constant gives an equally valid solution. This is another place

where we see that a damping force proportional to · is the easiest to

handle mathematically. For a damping force proportional to ·

2

, for

example, we would have had to solve the equation :o+/·

2

+/r = 0,

which is nonlinear.

For the purpose of determining ω

f

and c, the most general form

we need to consider is therefore r = c

−ct

sin ω

f

t , whose ﬁrst and

second derivatives are · = c

−ct

(−c sin ω

f

t + ω cos ω

f

t) and o =

c

−ct

c

2

sin ω

f

t −2ω

f

c cos ω

f

t −ω

2

f

sin ω

f

t

**. Plugging these into the
**

equation :o + /· + /r = 0 and setting the sine and cosine parts

equal to zero gives, after some tedious algebra,

Section 3.3 Resonance 169

g / An undamped sine wave

is compared with a damped one,

with m and k kept the same and

only b changed.

c =

/

2:

and

ω

f

=

/

:

−

/

2

4:

2

.

Intuitively, we expect friction to “slow down” the motion, as when

we ride a bike into a big patch of mud. “Slow down,” however, could

have more than one meaning here. It could mean that the oscillator

would take more time to complete each cycle, or it could mean that

as time went on, the oscillations would die out, thus giving smaller

velocities.

Our mathematical results show that both of these things hap-

pen. The ﬁrst equation says that c, which indicates how quickly the

oscillations damp out, is directly related to /, the strength of the

damping.

The second equation, for the frequency, can be compared with

the result from page 114 of

/´: for the undamped system. Let’s

refer to this now as ω

o

, to distinguish it from the actual frequency

ω

f

of the free oscillations when damping is present. The result for

ω

f

will be less than ω

o

, due to the presence of the /

2

´4:

2

term. This

tells us that the addition of friction to the system does increase the

time required for each cycle. However, it is very common for the

/

2

´4:

2

term is negligible, so that ω

f

≈ ω

o

.

Figure g shows an example. The damping here is quite strong:

after only one cycle of oscillation, the amplitude has already been

reduced by a factor of 2, corresponding to a factor of 4 in energy.

However, the frequency of the damped oscillator is only about 1%

lower than that of the undamped one; after ﬁve periods, the ac-

cumulated lag is just barely visible in the oﬀsetting of the arrows.

We can see that extremely strong damping — even stronger than

this — would have been necessary in order to make ω

f

≈ ω

o

a poor

approximation.

3.3.2 The quality factor

It’s usually impractical to measure / directly and determine c

from the equation c = /´2:. For a child on a swing, measuring

/ would require putting the child in a wind tunnel! It’s usually

much easier to characterize the amount of damping by observing the

actual damped oscillations and seeing how many cycles it takes for

the mechanical energy to decrease by a certain factor. The unitless

quality factor, Q, is deﬁned as Q = ω

o

´2c, and in the limit of weak

damping, where ω ≈ ω

o

, this can be interpreted as the number of

cycles required for the mechanical energy to fall oﬀ by a factor of

c

2π

= 535.49 . . . Using this new quantity, we can rewrite the equation

for the frequency of damped oscillations in the slightly more elegant

form ω

f

= ω

o

1 −1´4Q

2

.

170 Chapter 3 Conservation of Momentum

Summary of Notation

k spring constant

m mass of the oscillator

b sets the amount of damp-

ing, F = −bv

T period

f frequency, 1´T

ω (Greek letter omega), an-

gular frequency, 2πf , often

referred to simply as “fre-

quency”

ω

o

frequency the oscillator

would have without damp-

ing,

k´m

ω

f

frequency of the free vi-

brations

c sets the time scale for the

exponential decay enve-

lope e

−ct

of the free vibra-

tions

F

m

strength of the driving

force, which is assumed to

vary sinusoidally with fre-

quency ω

A amplitude of the steady-

state response

δ phase angle of the steady-

state response

self-check H

What if we wanted to make a simpler deﬁnition of Q, as the number of

oscillations required for the vibrations to die out completely, rather than

the number required for the energy to fall off by this obscure factor? >

Answer, p. 861

A graph example 41

The damped motion in ﬁgure g has Q ≈ 4.5, giving

1 −1´4Q

2

≈

0.99, as claimed at the end of the preceding subsection.

Exponential decay in a trumpet example 42

> The vibrations of the air column inside a trumpet have a Q of

about 10. This means that even after the trumpet player stops

blowing, the note will keep sounding for a short time. If the player

suddenly stops blowing, how will the sound intensity 20 cycles

later compare with the sound intensity while she was still blowing?

> The trumpet’s Q is 10, so after 10 cycles the energy will have

fallen off by a factor of 535. After another 10 cycles we lose an-

other factor of 535, so the sound intensity is reduced by a factor

of 535 535 = 2.9 10

5

.

The decay of a musical sound is part of what gives it its charac-

ter, and a good musical instrument should have the right Q, but the

Q that is considered desirable is diﬀerent for diﬀerent instruments.

A guitar is meant to keep on sounding for a long time after a string

has been plucked, and might have a Q of 1000 or 10000. One of the

reasons why a cheap synthesizer sounds so bad is that the sound

suddenly cuts oﬀ after a key is released.

3.3.3 Driven motion

The driven case is extremely important in science, technology,

and engineering. We have an external driving force 1 = 1

m

sin ωt,

where the constant 1

m

indicates the maximum strength of the force

in either direction. The equation of motion is now

[1] :o + /· + /r = 1

m

sin ωt

[equation of motion for a driven oscillator] .

After the driving force has been applied for a while, we expect that

the amplitude of the oscillations will approach some constant value.

This motion is known as the steady state, and it’s the most inter-

esting thing to ﬁnd out; as we’ll see later, the most general type of

motion is only a minor variation on the steady-state motion. For

the steady-state motion, we’re going to look for a solution of the

form

r = ¹sin(ωt + δ) .

In contrast to the undriven case, here it’s not possible to sweep ¹

and δ under the rug. The amplitude of the steady-state motion, ¹,

is actually the most interesting thing to know about the steady-state

Section 3.3 Resonance 171

h / Dependence of the amplitude

and phase angle on the driving

frequency, for an undamped

oscillator. The amplitudes were

calculated with F

m

, m, and ω

o

, all

set to 1.

motion, and it’s not true that we still have a solution no matter how

we ﬁddle with ¹; if we have a solution for a certain value of ¹, then

multiplying ¹ by some constant would break the equality between

the two sides of the equation of motion. It’s also no longer true that

we can get rid of δ simply be redeﬁning when we start the clock;

here δ represents a diﬀerence in time between the start of one cycle

of the driving force and the start of the corresponding cycle of the

motion.

The velocity and acceleration are · = ω¹sin(ωt + δ) and o =

−ω

2

¹cos(ωt +δ), and if we plug these into the equation of motion,

[1], and simplify a little, we ﬁnd

[2] (/ −:ω

2

) sin(ωt + δ) + ω/ cos(ωt + δ) =

1

m

¹

sin ωt .

The sum of any two sinusoidal functions with the same frequency

is also a sinusoidal, so the whole left side adds up to a sinusoidal.

By ﬁddling with ¹ and δ we can make the amplitudes and phases

of the two sides of the equation match up.

Steady state, no damping

¹ and δ are easy to ﬁnd in the case where there is no damping

at all. There are now no cosines in equation [2] above, only sines, so

if we wish we can set δ to zero, and we ﬁnd ¹ = 1

m

´(/ − :ω

2

) =

1

m

´:(ω

2

o

−ω

2

). This, however, makes ¹ negative for ω ω

o

. The

variable δ was designed to represent this kind of phase relationship,

so we prefer to keep ¹ positive and set δ = π for ω ω

o

. Our

results are then

¹ =

1

m

:[ω

2

−ω

2

o

[

and

δ =

0, ω < ω

o

π, ω ω

o

.

The most important feature of the result is that there is a reso-

nance: the amplitude becomes greater and greater, and approaches

inﬁnity, as ω approaches the resonant frequency ω

o

. This is the phys-

ical behavior we anticipated on page 166 in the example of pushing

a child on a swing. If the driving frequency matches the frequency

of the free vibrations, then the driving force will always be in the

right direction to add energy to the swing. At a driving frequency

very diﬀerent from the resonant frequency, we might get lucky and

push at the right time during one cycle, but our next push would

come at some random point in the next cycle, possibly having the

eﬀect of slowing the swing down rather than speeding it up.

The interpretation of the inﬁnite amplitude at ω = ω

o

is that

there really isn’t any steady state if we drive the system exactly at

172 Chapter 3 Conservation of Momentum

resonance — the amplitude will just keep on increasing indeﬁnitely.

In real life, the amplitude can’t be inﬁnite both because there is

always some damping and because there will always be some diﬀer-

ence, however small, between ω and ω

o

. Even though the inﬁnity is

unphysical, it has entered into the popular consciousness, starting

with the eccentric Serbian-American inventor and physicist Nikola

Tesla. Around 1912, the tabloid newspaper The World Today credu-

lously reported a story which Tesla probably fabricated — or wildly

exaggerated — for the sake of publicity. Supposedly he created a

steam-powered device “no larger than an alarm clock,” containing

a piston that could be made to vibrate at a tunable and precisely

controlled frequency. “He put his little vibrator in his coat-pocket

and went out to hunt a half-erected steel building. Down in the

Wall Street district, he found one — ten stories of steel framework

without a brick or a stone laid around it. He clamped the vibrator

to one of the beams, and fussed with the adjustment [presumably

hunting for the building’s resonant frequency] until he got it. Tesla

said ﬁnally the structure began to creak and weave and the steel-

workers came to the ground panic-stricken, believing that there had

been an earthquake. Police were called out. Tesla put the vibrator

in his pocket and went away. Ten minutes more and he could have

laid the building in the street. And, with the same vibrator he could

have dropped the Brooklyn Bridge into the East River in less than

an hour.”

The phase angle δ also exhibits surprising behavior. As the fre-

quency is tuned upward past resonance, the phase abruptly shifts so

that the phase of the response is opposite to that of the driving force.

There is a simple interpretation for this. The system’s mechanical

energy can only change due to work done by the driving force, since

there is no damping to convert mechanical energy to heat. In the

steady state, then, the power transmitted by the driving force over

a full cycle of motion must average out to zero. In general, the work

theorem d1 = 1dr can always be divided by dt on both sides to

give the useful relation 1 = 1·. If 1· is to average out to zero,

then 1 and · must be out of phase by ±π´2, and since · is ahead of

r by a phase angle of π´2, the phase angle between r and 1 must

be zero or π.

Given that these are the two possible phases, why is there a

diﬀerence in behavior between ω < ω

o

and ω ω

o

? At the low-

frequency limit, consider ω = 0, i.e., a constant force. A constant

force will simply displace the oscillator to one side, reaching an

equilibrium that is oﬀset from the usual one. The force and the

response are in phase, e.g., if the force is to the right, the equilibrium

will be oﬀset to the right. This is the situation depicted in the

amplitude graph of ﬁgure h at ω = 0. The response, which is not

zero, is simply this static displacement of the oscillator to one side.

At high frequencies, on the other hand, imagine shaking the

Section 3.3 Resonance 173

poor child on the swing back and forth with a force that oscillates

at 10 Hz. This is so fast that there is essentially no time for the

force 1 = −/r from gravity and the chain to act from one cycle

to the next. The problem becomes equivalent to the oscillation of

a free object. If the driving force varies like sin(ωt), with δ = 0,

then the acceleration is also proportional to the sine. Integrating,

we ﬁnd that the velocity goes like minus a cosine, and a second

integration gives a position that varies as minus the sine — opposite

in phase to the driving force. Intuitively, this mathematical result

corresponds to the fact that at the moment when the object has

reached its maximum displacement to the right, that is the time

when the greatest force is being applied to the left, in order to turn

it around and bring it back toward the center.

A practice mute for a violin example 43

The amplitude of the driven vibrations, A = F

m

´(m[ω

2

−ω

2

o

[), con-

tains an inverse proportionality to the mass of the vibrating object.

This is simply because a given force will produce less accelera-

tion when applied to a more massive object. An application is

shown in ﬁgure 43.

In a stringed instrument, the strings themselves don’t have enough

surface area to excite sound waves very efﬁciently. In instruments

of the violin family, as the strings vibrate from left to right, they

cause the bridge (the piece of wood they pass over) to wiggle

clockwise and counterclockwise, and this motion is transmitted to

the top panel of the instrument, which vibrates and creates sound

waves in the air.

A string player who wants to practice at night without bothering

the neighbors can add some mass to the bridge. Adding mass to

the bridge causes the amplitude of the vibrations to be smaller,

and the sound to be much softer. A similar effect is seen when

an electric guitar is used without an amp. The body of an electric

guitar is so much more massive than the body of an acoustic

guitar that the amplitude of its vibrations is very small.

i / Example 43: a viola without

a mute (left), and with a mute

(right). The mute doesn’t touch

the strings themselves.

174 Chapter 3 Conservation of Momentum

Steady state, with damping

The extension of the analysis to the damped case involves some

lengthy algebra, which I’ve outlined on page 848 in appendix 2. The

results are shown in ﬁgure j. It’s not surprising that the steady state

response is weaker when there is more damping, since the steady

state is reached when the power extracted by damping matches the

power input by the driving force. The maximum amplitude, at the

peak of the resonance curve, is approximately proportional to Q.

j / Dependence of the amplitude

and phase angle on the driving

frequency. The undamped case

is Q = ∞, and the other curves

represent Q=1, 3, and 10. F

m

, m,

and ω

o

are all set to 1.

self-check I

From the ﬁnal result of the analysis on page 848, substitute ω = ω

o

,

and satisfy yourself that the result is proportional to Q. Why is A

r es

∝ Q

only an approximation? > Answer, p. 861

What is surprising is that the amplitude is strongly aﬀected by

damping close to resonance, but only weakly aﬀected far from it. In

other words, the shape of the resonance curve is broader with more

Section 3.3 Resonance 175

l / The collapsed section of

the Nimitz Freeway

k / The deﬁnition of ∆ω, the

full width at half maximum.

damping, and even if we were to scale up a high-damping curve so

that its maximum was the same as that of a low-damping curve, it

would still have a diﬀerent shape. The standard way of describing

the shape numerically is to give the quantity ∆ω, called the full

width at half-maximum, or FWHM, which is deﬁned in ﬁgure k.

Note that the n axis is energy, which is proportional to the square

of the amplitude. Our previous observations amount to a statement

that ∆ω is greater when the damping is stronger, i.e., when the Q

is lower. It’s not hard to show from the equations on page 848 that

for large Q, the FWHM is given approximately by

∆ω ≈ ω

o

´Q .

Another thing we notice in ﬁgure j is that for small values of Q

the frequency ω

res

of the maximum ¹ is less than ω

o

.

11

At even

lower values of Q, like Q = 1, the ¹ −ω curve doesn’t even have a

maximum near ω 0.

An opera singer breaking a wineglass example 44

In order to break a wineglass by singing, an opera singer must

ﬁrst tap the glass to ﬁnd its natural frequency of vibration, and

then sing the same note back, so that her driving force will pro-

duce a response with the greatest possible amplitude. If she’s

shopping for the right glass to use for this display of her prowess,

she should look for one that has the greatest possible Q, since

the resonance curve has a higher maximum for higher values of

Q.

Collapse of the Nimitz Freeway example 45

Figure l shows a section of the Nimitz Freeway in Oakland, CA,

that collapsed during an earthquake in 1989. An earthquake con-

sists of many low-frequency vibrations that occur simultaneously,

which is why it sounds like a rumble of indeterminate pitch rather

than a low hum. The frequencies that we can hear are not even

the strongest ones; most of the energy is in the form of vibrations

in the range of frequencies from about 1 Hz to 10 Hz.

All the structures we build are resting on geological layers of dirt,

mud, sand, or rock. When an earthquake wave comes along, the

topmost layer acts like a system with a certain natural frequency

of vibration, sort of like a cube of jello on a plate being shaken

from side to side. The resonant frequency of the layer depends

on how stiff it is and also on how deep it is. The ill-fated section

11

The relationship is ωmax A/ωo =

p

1 −1/2Q

2

, which is similar in form to

the equation for the frequency of the free vibration, ω

f

/ωo =

p

1 −1/4Q

2

. A

subtle point here is that although the maximum of A and the maximum of A

2

must occur at the same frequency, the maximum energy does not occur, as we

might expect, at the same frequency as the maximum of A

2

. This is because

the interaction energy is proportional to A

2

regardless of frequency, but the

kinetic energy is proportional to A

2

ω

2

. The maximum energy actually occurs

are precisely ωo.

176 Chapter 3 Conservation of Momentum

m / An x-versus-t graph of

the steady-state motion of a

swing being pushed at twice

its resonant frequency by an

impulsive force.

of the Nimitz freeway was built on a layer of mud, and analysis by

geologist Susan E. Hough of the U.S. Geological Survey shows

that the mud layer’s resonance was centered on about 2.5 Hz,

and had a width covering a range from about 1 Hz to 4 Hz.

When the earthquake wave came along with its mixture of fre-

quencies, the mud responded strongly to those that were close to

its own natural 2.5 Hz frequency. Unfortunately, an engineering

analysis after the quake showed that the overpass itself had a res-

onant frequency of 2.5 Hz as well! The mud responded strongly to

the earthquake waves with frequencies close to 2.5 Hz, and the

bridge responded strongly to the 2.5 Hz vibrations of the mud,

causing sections of it to collapse.

Physical reason for the relationship between Q and the FWHM

What is the reason for this surprising relationship between the

damping and the width of the resonance? Fundamentally, it has to

do with the fact that friction causes a system to lose its “memory”

of its previous state. If the Pioneer 10 space probe, coasting through

the frictionless vacuum of interplanetary space, is detected by aliens

a million years from now, they will be able to trace its trajectory

backwards and infer that it came from our solar system. On the

other hand, imagine that I shove a book along a tabletop, it comes

to rest, and then someone else walks into the room. There will be

no clue as to which direction the book was moving before it stopped

— friction has erased its memory of its motion. Now consider the

playground swing driven at twice its natural frequency, ﬁgure m,

where the undamped case is repeated from ﬁgure b on page 166. In

the undamped case, the ﬁrst push starts the swing moving with mo-

mentum j, but when the second push comes, if there is no friction

at all, it now has a momentum of exactly −j, and the momentum

transfer from the second push is exactly enough to stop it dead.

With moderate damping, however, the momentum on the rebound

is not quite −j, and the second push’s eﬀect isn’t quite as disas-

trous. With very strong damping, the swing comes essentially to

rest long before the second push. It has lost all its memory, and the

second push puts energy into the system rather than taking it out.

Although the detailed mathematical results with this kind of impul-

sive driving force are diﬀerent,

12

the general results are the same

as for sinusoidal driving: the less damping there is, the greater the

penalty you pay for driving the system oﬀ of resonance.

12

For example, the graphs calculated for sinusoidal driving have resonances

that are somewhat below the natural frequency, getting lower with increasing

damping, until for Q ≤ 1 the maximum response occurs at ω = 0. In ﬁgure m,

however, we can see that impulsive driving at ω = 2ωo produces a steady state

with more energy than at ω = ωo.

Section 3.3 Resonance 177

High-Q speakers example 46

Most good audio speakers have Q ≈ 1, but the resonance curve

for a higher-Q oscillator always lies above the corresponding curve

for one with a lower Q, so people who want their car stereos to

be able to rattle the windows of the neighboring cars will often

choose speakers that have a high Q. Of course they could just

use speakers with stronger driving magnets to increase F

m

, but

the speakers might be more expensive, and a high-Q speaker

also has less friction, so it wastes less energy as heat.

One problem with this is that whereas the resonance curve of a

low-Q speaker (its “response curve” or “frequency response” in

audiophile lingo) is fairly ﬂat, a higher-Q speaker tends to em-

phasize the frequencies that are close to its natural resonance.

In audio, a ﬂat response curve gives more realistic reproduction

of sound, so a higher quality factor, Q, really corresponds to a

lower -quality speaker.

Another problem with high-Q speakers is discussed in example

49 on page 180 .

Changing the pitch of a wind instrument example 47

> A saxophone player normally selects which note to play by

choosing a certain ﬁngering, which gives the saxophone a cer-

tain resonant frequency. The musician can also, however, change

the pitch signiﬁcantly by altering the tightness of her lips. This

corresponds to driving the horn slightly off of resonance. If the

pitch can be altered by about 5% up or down (about one musi-

cal half-step) without too much effort, roughly what is the Q of a

saxophone?

> Five percent is the width on one side of the resonance, so the

full width is about 10%, ∆f ´f

o

≈ 0.1. The equation ∆ω = ω

o

´Q is

deﬁned in terms of angular frequency, ω = 2π f , and we’ve been

given our data in terms of ordinary frequency, f . The factors of 2π

end up canceling out, however:

Q =

ω

o

∆ω

=

2πf

o

2π∆f

=

f

o

f

≈ 10

In other words, once the musician stops blowing, the horn will

continue sounding for about 10 cycles before its energy falls off

by a factor of 535. (Blues and jazz saxophone players will typi-

cally choose a mouthpiece that gives a low Q, so that they can

produce the bluesy pitch-slides typical of their style. “Legit,” i.e.,

classically oriented players, use a higher-Q setup because their

178 Chapter 3 Conservation of Momentum

style only calls for enough pitch variation to produce a vibrato,

and the higher Q makes it easier to play in tune.)

Q of a radio receiver example 48

> A radio receiver used in the FM band needs to be tuned in to

within about 0.1 MHz for signals at about 100 MHz. What is its

Q?

> As in the last example, we’re given data in terms of f s, not ωs,

but the factors of 2π cancel. The resulting Q is about 1000, which

is extremely high compared to the Q values of most mechanical

systems.

Transients

What about the motion before the steady state is achieved?

When we computed the undriven motion numerically on page 167,

the program had to initialize the position and velocity. By changing

these two variables, we could have gotten any of an inﬁnite number

of simulations.

13

The same is true when we have an equation of mo-

tion with a driving term, :o+/·+/r = 1

m

sin ωt (p. 171, equation

[1]). The steady-state solutions, however, have no adjustable param-

eters at all — ¹ and δ are uniquely determined by the parameters

of the driving force and the oscillator itself. If the oscillator isn’t

initially in the steady state, then it will not have the steady-state

motion at ﬁrst. What kind of motion will it have?

The answer comes from realizing that if we start with the so-

lution to the driven equation of motion, and then add to it any

solution to the free equation of motion, the result,

r = ¹sin(ωt + δ) + ¹

c

−ct

sin(ω

f

t + δ

) ,

is also a solution of the driven equation. Here, as before, ω

f

is the

frequency of the free oscillations (ω

f

≈ ω

o

for small Q), ω is the

frequency of the driving force, ¹ and δ are related as usual to the

parameters of the driving force, and ¹

and δ

**can have any values
**

at all. Given the initial position and velocity, we can always choose

¹

and δ

**to reproduce them, but this is not something one often
**

has to do in real life. What’s more important is to realize that the

second term dies out exponentially over time, decaying at the same

rate at which a free vibration would. For this reason, the ¹

term is

called a transient. A high-Q oscillator’s transients take a long time

to die out, while a low-Q oscillator always settles down to its steady

state very quickly.

13

If you’ve learned about diﬀerential equations, you’ll know that any second-

order diﬀerential equation requires the speciﬁcation of two boundary conditions

in order to specify solution uniquely.

Section 3.3 Resonance 179

Boomy bass example 49

In example 46 on page 178, I’ve already discussed one of the

drawbacks of a high-Q speaker, which is an uneven response

curve. Another problem is that in a high-Q speaker, transients

take a long time to die out. The bleeding-eardrums crowd tend

to focus mostly on making their bass loud, so it’s usually their

woofers that have high Qs. The result is that bass notes, “ring”

after the onset of the note, a phenomenon referred to as “boomy

bass.”

Overdamped motion

The treatment of free, damped motion on page 169 skipped

over a subtle point: in the equation ω

f

=

/´:−/

2

´4:

2

=

ω

o

1 −1´4Q

2

, Q < 1´2 results in an answer that is the square

root of a negative number. For example, suppose we had / = 0,

which corresponds to a neutral equilibrium. A physical example

would be a mass sitting in a tub of syrup. If we set it in motion,

it won’t oscillate — it will simply slow to a stop. This system has

Q = 0. The equation of motion in this case is :o+/· = 0, or, more

suggestively,

:

d·

dt

+ /· = 0 .

One can easily verify that this has the solution · = (constant)c

−bt/m

,

and integrating, we ﬁnd r = (constant)c

−bt/m

+(constant). In other

words, the reason ω

f

comes out to be mathematical nonsense

14

is

that we were incorrect in assuming a solution that oscillated at a

frequency ω

f

. The actual motion is not oscillatory at all.

In general, systems with Q < 1´2, called overdamped systems,

do not display oscillatory motion. Most cars’ shock absorbers are

designed with Q ≈ 1´2, since it’s undesirable for the car to undulate

up and down for a while after you go over a bump. (Shocks with ex-

tremely low values of Q are not good either, because such a system

takes a very long time to come back to equilibrium.) It’s not par-

ticularly important for our purposes, but for completeness I’ll note,

as you can easily verify, that the general solution to the equation of

motion for 0 < Q < 1´2 is of the form r = ¹c

−ct

+ 1c

−dt

, while

Q = 1´2, called the critically damped case, gives r = (¹ + 1t)c

−ct

.

14

Actually, if you know about complex numbers and Euler’s theorem, it’s not

quite so nonsensical.

180 Chapter 3 Conservation of Momentum

a / The car can change its x

and y motions by one square

every turn.

3.4 Motion in Three Dimensions

3.4.1 The Cartesian perspective

When my friends and I were bored in high school, we used to play

a paper-and-pencil game which, although we never knew it, was Very

Educational — in fact, it pretty much embodies the entire world-

view of classical physics. To play the game, you draw a racetrack on

graph paper, and try to get your car around the track before anyone

else. The default is for your car to continue at constant speed in a

straight line, so if it moved three squares to the right and one square

up on your last turn, it will do the same this turn. You can also

control the car’s motion by changing its ∆r and ∆n by up to one

unit. If it moved three squares to the right last turn, you can have

it move anywhere from two to four squares to the right this turn.

b / French mathematician Ren´ e Descartes invented analytic geometry;

Cartesian (xyz) coordinates are named after him. He did work in phi-

losophy, and was particularly interested in the mind-body problem. He

was a skeptic and an antiaristotelian, and, probably for fear of religious

persecution, spent his adult life in the Netherlands, where he fathered

a daughter with a Protestant peasant whom he could not marry. He kept

his daughter’s existence secret from his enemies in France to avoid giving

them ammunition, but he was crushed when she died of scarlatina at age

5. A pious Catholic, he was widely expected to be sainted. His body was

buried in Sweden but then reburied several times in France, and along

the way everything but a few ﬁngerbones was stolen by peasants who

expected the body parts to become holy relics.

The fundamental way of dealing with the direction of an ob-

ject’s motion in physics is to use conservation of momentum, since

momentum depends on direction. Up until now, we’ve only done

momentum in one dimension. How does this relate to the racetrack

game? In the game, the motion of a car from one turn to the next

is represented by its ∆r and ∆n. In one dimension, we would only

need ∆r, which could be related to the velocity, ∆r´∆t, and the

momentum, :∆r´∆t. In two dimensions, the rules of the game

amount to a statement that if there is no momentum transfer, then

both :∆r´∆t and :∆n´∆t stay the same. In other words, there

are two ﬂavors of momentum, and they are separately conserved.

All of this so far has been done with an artiﬁcial division of time

into “turns,” but we can ﬁx that by redeﬁning everything in terms

of derivatives, and for motion in three dimensions rather than two,

we augment r and n with .:

·

x

= dr´dt ·

y

= dn´dt ·

z

= d.´dt

and

j

x

= :·

x

j

y

= :·

y

j

z

= :·

z

Section 3.4 Motion in Three Dimensions 181

c / Bullets are dropped and shot at the same time.

We call these the r, n, and . components of the velocity and the

momentum.

There is both experimental and theoretical evidence that the

r, n, and . momentum components are separately conserved, and

that a momentum transfer (force) along one axis has no eﬀect on

the momentum components along the other two axes. On page

87, for example, I argued that it was impossible for an air hockey

puck to make a 180-degree turn spontaneously, because then in the

frame moving along with the puck, it would have begun moving

after starting from rest. Now that we’re working in two dimensions,

we might wonder whether the puck could spontaneously make a 90-

degree turn, but exactly the same line of reasoning shows that this

would be impossible as well, which proves that the puck can’t trade

r-momentum for n-momentum. A more general proof of separate

conservation will be given on page 207, after some of the appropriate

mathematical techniques have been introduced.

As an example of the experimental evidence for separate con-

servation of the momentum components, ﬁgure c shows correct and

incorrect predictions of what happens if you shoot a riﬂe and arrange

for a second bullet to be dropped from the same height at exactly

the same moment when the ﬁrst one left the barrel. Nearly every-

one expects that the dropped bullet will reach the dirt ﬁrst, and

Aristotle would have agreed, since he believed that the bullet had

to lose its horizontal motion before it could start moving vertically.

In reality, we ﬁnd that the vertical momentum transfer between the

earth and the bullet is completely unrelated to the horizontal mo-

mentum. The bullet ends up with j

y

< 0, while the planet picks

up an upward momentum j

y

0, and the total momentum in the

n direction remains zero. Both bullets hit the ground at the same

time. This is much simpler than the Aristotelian version!

The Pelton waterwheel example 50

> There is a general class of machines that either do work on a

gas or liquid, like a boat’s propeller, or have work done on them

182 Chapter 3 Conservation of Momentum

d / Two surfaces that could

be used to extract energy from a

stream of water.

e / An asteroid absorbs visi-

ble light from the sun, and gets

rid of the energy by radiating

infrared light.

by a gas or liquid, like the turbine in a hydroelectric power plant.

Figure d shows two types of surfaces that could be attached to

the circumference of an old-fashioned waterwheel. Compare the

force exerted by the water in the two cases.

> Let the x axis point to the right, and the y axis up. In both

cases, the stream of water rushes down onto the surface with

momentum p

y,i

= −p

o

, where the subscript i stands for “initial,”

i.e., before the collision.

In the case of surface 1, the streams of water leaving the surface

have no momentum in the y direction, and their momenta in the x

direction cancel. The ﬁnal momentum of the water is zero along

both axes, so its entire momentum, −p

o

, has been transferred to

the waterwheel.

When the water leaves surface 2, however, its momentum isn’t

zero. If we assume there is no friction, it’s p

y,f

= +p

o

, with the

positive sign indicating upward momentum. The change in the

water’s momentum is p

y,f

−p

y,i

= 2p

o

, and the momentum trans-

ferred to the waterwheel is −2p

o

.

Force is deﬁned as the rate of transfer of momentum, so surface

2 experiences double the force. A waterwheel constructed in this

way is known as a Pelton waterwheel.

The Yarkovsky effect example 51

We think of the planets and asteroids as inhabiting their orbits

permanently, but it is possible for an orbit to change over periods

of millions or billions of years, due to a variety of effects. For

asteroids with diameters of a few meters or less, an important

mechanismis the Yarkovsky effect, which is easiest to understand

if we consider an asteroid spinning about an axis that is exactly

perpendicular to its orbital plane.

The illuminated side of the asteroid is relatively hot, and radiates

more infrared light than the dark (night) side. Light has momen-

tum, and a total force away from the sun is produced by combined

effect of the sunlight hitting the asteroid and the imbalance be-

tween the momentum radiated away on the two sides. This force,

however, doesn’t cause the asteroid’s orbit to change over time,

since it simply cancels a tiny fraction of the sun’s gravitational

attraction. The result is merely a tiny, undetectable violation of

Kepler’s law of periods.

Consider the sideways momentum transfers, however. In ﬁgure e,

the part of the asteroid on the right has been illuminated for half a

spin-period (half a “day”) by the sun, and is hot. It radiates more

light than the morning side on the left. This imbalance produces

a total force in the x direction which points to the left. If the aster-

oid’s orbital motion is to the left, then this is a force in the same

direction as the motion, which will do positive work, increasing

Section 3.4 Motion in Three Dimensions 183

the asteroid’s energy and boosting it into an orbit with a greater

radius. On the other hand, if the asteroid’s spin and orbital motion

are in opposite directions, the Yarkovsky push brings the asteroid

spiraling in closer to the sun.

Calculations show that it takes on the order of 10

7

to 10

8

years for

the Yarkovsky effect to move an asteroid out of the asteroid belt

and into the vicinity of earth’s orbit, and this is about the same as

the typical age of a meteorite as estimated by its exposure to cos-

mic rays. The Yarkovsky effect doesn’t remove all the asteroids

from the asteroid belt, because many of them have orbits that

are stabilized by gravitational interactions with Jupiter. However,

when collisions occur, the fragments can end up in orbits which

are not stabilized in this way, and they may then end up reaching

the earth due to the Yarkovsky effect. The cosmic-ray technique

is really telling us how long it has been since the fragment was

broken out of its parent.

Discussion Questions

A The following is an incorrect explanation of a fact about target shoot-

ing:

“Shooting a high-powered riﬂe with a high muzzle velocity is different from

shooting a less powerful gun. With a less powerful gun, you have to aim

quite a bit above your target, but with a more powerful one you don’t have

to aim so high because the bullet doesn’t drop as fast.”

What is the correct explanation?

f / Discussion question A.

B You have thrown a rock, and it is ﬂying through the air in an arc. If

the earth’s gravitational force on it is always straight down, why doesn’t it

just go straight down once it leaves your hand?

C Consider the example of the bullet that is dropped at the same

moment another bullet is ﬁred from a gun. What would the motion of the

two bullets look like to a jet pilot ﬂying alongside in the same direction as

the shot bullet and at the same horizontal speed?

3.4.2 Rotational invariance

The Cartesian approach requires that we choose r, n, and .

axes. How do we choose them correctly? The answer is that it had

184 Chapter 3 Conservation of Momentum

better not matter which directions the axes point (provided they’re

perpendicular to each other), or where we put the origin, because if

it did matter, it would mean that space was asymmetric. If there

was a certain point in the universe that was the right place to put

the origin, where would it be? The top of Mount Olympus? The

United Nations headquarters? We ﬁnd that experiments come out

the same no matter where we do them, and regardless of which way

the laboratory is oriented, which indicates that no location in space

or direction in space is special in any way.

15

This is closely related to the idea of Galilean relativity stated on

page 60, from which we already know that the absolute motion of

a frame of reference is irrelevant and undetectable. Observers using

frames of reference that are in motion relative to each other will not

even agree on the permanent identity of a particular point in space,

so it’s not possible for the laws of physics to depend on where you are

in space. For instance, if gravitational energies were proportional

to :

1

:

2

in one location but to (:

1

:

2

)

1.00001

in another, then it

would be possible to determine when you were in a state of absolute

motion, because the behavior of gravitational interactions would

change as you moved from one region to the other.

Because of this close relationship, we restate the principle of

Galilean relativity in a more general form. This extended principle

of Galilean relativity states that the laws of physics are no diﬀerent

in one time and place than in another, and that they also don’t de-

pend on your orientation or your motion, provided that your motion

is in a straight line and at constant speed.

The irrelevance of time and place could have been stated in chap-

ter 1, but since this section is the ﬁrst one in which we’re dealing

with three-dimensional physics in full generality, the irrelevance of

orientation is what we really care about right now. This property of

the laws of physics is called rotational invariance. The word “invari-

ance” means a lack of change, i.e., the laws of physics don’t change

when we reorient our frame of reference.

Rotational invariance of gravitational interactions example 52

Gravitational energies depend on the quantity 1/r , which by the

Pythagorean theorem equals

1

∆x

2

+ ∆y

2

+ ∆z

2

.

Rotating a line segment doesn’t change its length, so this expres-

sion comes out the same regardless of which way we orient our

15

Of course, you could tell in a sealed laboratory which way was down, but

that’s because there happens to be a big planet nearby, and the planet’s grav-

itational ﬁeld reaches into the lab, not because space itself has a special down

direction. Similarly, if your experiment was sensitive to magnetic ﬁelds, it might

matter which way the building was oriented, but that’s because the earth makes

a magnetic ﬁeld, not because space itself comes equipped with a north direction.

Section 3.4 Motion in Three Dimensions 185

g / Two balls roll down a cone and

onto a plane.

coordinate axes. Even though ∆x, ∆y, and ∆z are different in

differently oriented coordinate systems, r is the same.

Kinetic energy example 53

Kinetic energy equals (1/2)mv

2

, but what does that mean in three

dimensions, where we have v

x

, v

y

, and v

z

? If you were tempted

to add the components and calculate K = (1´2)m(v

x

+ v

y

+ v

z

)

2

,

ﬁgure g should convince you otherwise. Using that method, we’d

have to assign a kinetic energy of zero to ball number 1, since

its negative v

y

would exactly cancel its positive v

x

, whereas ball

number 2’s kinetic energy wouldn’t be zero. This would violate

rotational invariance, since the balls would behave differently.

The only possible way to generalize kinetic energy to three di-

mensions, without violating rotational invariance, is to use an ex-

pression that resembles the Pythagorean theorem,

v =

v

2

x

+ v

2

y

+ v

2

z

,

which results in

K =

1

2

m

v

2

x

+ v

2

y

+ v

2

z

.

Since the velocity components are squared, the positive and neg-

ative signs don’t matter, and the two balls in the example behave

the same way.

186 Chapter 3 Conservation of Momentum

3.4.3 Vectors

Remember the title of this book? It would have been possible to

obtain the result of example 53 by applying the Pythagorean theo-

rem to dr, dn, and d., and then dividing by dt, but the rotational

invariance approach is simpler, and is useful in a much broader

context. Even with a quantity you presently know nothing about,

say the magnetic ﬁeld, you can infer that if the components of the

magnetic ﬁeld are 1

x

, 1

y

, and 1

z

, then the physically useful way

to talk about the strength of the magnetic ﬁeld is to deﬁne it as

1

2

x

+ 1

2

y

+ 1

2

z

. Nature knows your brain cells are precious, and

doesn’t want you to have to waste them by memorizing mathemat-

ical rules that are diﬀerent for magnetic ﬁelds than for velocities.

When mathematicians see that the same set of techniques is

useful in many diﬀerent contexts, that’s when they start making

deﬁnitions that allow them to stop reinventing the wheel. The an-

cient Greeks, for example, had no general concept of fractions. They

couldn’t say that a circle’s radius divided by its diameter was equal

to the number 1/2. They had to say that the radius and the diameter

were in the ratio of one to two. With this limited number concept,

they couldn’t have said that water was dripping out of a tank at

a rate of 3/4 of a barrel per day; instead, they would have had to

say that over four days, three barrels worth of water would be lost.

Once enough of these situations came up, some clever mathemati-

cian ﬁnally realized that it would make sense to deﬁne something

called a fraction, and that one could think of these fraction thingies

as numbers that lay in the gaps between the traditionally recognized

numbers like zero, one, and two. Later generations of mathemati-

cians introduced further subversive generalizations of the number

concepts, inventing mathematical creatures like negative numbers,

and the square root of two, which can’t be expressed as a fraction.

In this spirit, we deﬁne a vector as any quantity that has both

an amount and a direction in space. In contradistinction, a scalar

has an amount, but no direction. Time and temperature are scalars.

Velocity, acceleration, momentum, and force are vectors. In one di-

mension, there are only two possible directions, and we can use pos-

itive and negative numbers to indicate the two directions. In more

than one dimension, there are inﬁnitely many possible directions, so

we can’t use the two symbols + and − to indicate the direction of

a vector. Instead, we can specify the three components of the vec-

tor, each of which can be either negative or positive. We represent

vector quantities in handwriting by writing an arrow above them,

so for example the momentum vector looks like this, j, but the ar-

row looks ugly in print, so in books vectors are usually shown in

bold-face type: p. A straightforward way of thinking about vectors

is that a vector equation really represents three diﬀerent equations.

For instance, conservation of momentum could be written in terms

Section 3.4 Motion in Three Dimensions 187

h / Example 54.

of the three components,

∆j

x

= 0

∆j

y

= 0

∆j

z

= 0 ,

or as a single vector equation,

16

∆p = 0 .

The following table summarizes some vector operations.

operation deﬁnition

[vector[

·ccto:

2

x

+ ·ccto:

2

y

+ ·ccto:

2

z

vector +vector Add component by component.

vector −vector Subtract component by component.

vector :co|o: Multiply each component by the scalar.

vector ´ :co|o: Divide each component by the scalar.

The ﬁrst of these is called the magnitude of the vector; in one dimen-

sion, where a vector only has one component, it amounts to taking

the absolute value, hence the similar notation.

self-check J

Translate the equations F

x

=ma

x

, F

y

=ma

y

, and F

z

=ma

z

into a single

equation in vector notation. > Answer, p. 861

An explosion example 54

> Astronomers observe the planet Mars as the Martians ﬁght a

nuclear war. The Martian bombs are so powerful that they rip the

planet into three separate pieces of liqueﬁed rock, all having the

same mass. If one fragment ﬂies off with velocity components

v

1x

= 0, v

1y

=1.0x10

4

km/hr, and the second with v

2x

=1.0x10

4

km/hr, v

2y

= 0, what is the magnitude of the third one’s velocity?

> We work the problem in the center of mass frame, in which

the planet initially had zero momentum. After the explosion, the

vector sum of the momenta must still be zero. Vector addition can

be done by adding components, so

mv

1x

+ mv

2x

+ mv

3x

= 0

and

mv

1y

+ mv

2y

+ mv

3y

= 0 ,

where we have used the same symbol m for all the terms, be-

cause the fragments all have the same mass. The masses can

16

The zero here is really a zero vector, i.e., a vector whose components are

all zero, so we should really represent it with a boldface 0. There’s usually not

much danger of confusion, however, so most books, including this one, don’t use

boldface for the zero vector.

188 Chapter 3 Conservation of Momentum

i / Example 55.

j / The geometric interpreta-

tion of a vector’s components.

be eliminated by dividing each equation by m, and we ﬁnd

v

3x

= −1.0x10

4

km/hr

v

3y

= −1.0x10

4

km/hr ,

which gives a magnitude of

[v

3

[ =

v

2

3x

+ v

2

3y

= 1.4x10

4

km/hr .

A toppling box example 55

If you place a box on a frictionless surface, it will fall over with a

very complicated motion that is hard to predict in detail. We know,

however, that its center of mass’s motion is related to its momen-

tum, and the rate at which momentum is transferred is the force.

Moreover, we know that these relationships apply separately to

each component. Let x and y be horizontal, and z vertical. There

are two forces on the box, an upward force from the table and a

downward gravitational force. Since both of these are along the

z axis, p

z

is the only component of the box’s momentum that can

change. We conclude that the center of mass travels vertically.

This is true even if the box bounces and tumbles. [Based on an

example by Kleppner and Kolenkow.]

Geometric representation of vectors

A vector in two dimensions can be easily visualized by drawing

an arrow whose length represents its magnitude and whose direction

represents its direction. The r component of a vector can then be

visualized, j, as the length of the shadow it would cast in a beam of

light projected onto the r axis, and similarly for the n component.

Shadows with arrowheads pointing back against the direction of the

positive axis correspond to negative components.

In this type of diagram, the negative of a vector is the vector

with the same magnitude but in the opposite direction. Multiplying

a vector by a scalar is represented by lengthening the arrow by that

factor, and similarly for division.

self-check K

Given vector Q represented by an arrow below, draw arrows represent-

ing the vectors 1.5Q and −Q.

> Answer, p. 861

Section 3.4 Motion in Three Dimensions 189

k / Two vectors, 1, to which

we apply the same operation in

two different frames of reference,

2 and 3.

A useless vector operation example 56

The way I’ve deﬁned the various vector operations above aren’t

as arbitrary as they seem. There are many different vector oper-

ations that we could deﬁne, but only some of the possible deﬁni-

tions are mathematically useful. Consider the operation of mul-

tiplying two vectors component by component to produce a third

vector:

R

x

= P

x

Q

x

R

y

= P

y

Q

y

R

z

= P

z

Q

z

As a simple example, we choose vectors P and Q to have length

1, and make them perpendicular to each other, as shown in ﬁgure

k/1. If we compute the result of our new vector operation using

the coordinate system shown in k/2, we ﬁnd:

R

x

= 0

R

y

= 0

R

z

= 0

The x component is zero because P

x

= 0, the y component is

zero because Q

y

= 0, and the z component is of course zero be-

cause both vectors are in the x-y plane. However, if we carry out

the same operations in coordinate system k/3, rotated 45 degrees

with respect to the previous one, we ﬁnd

R

x

= −1/2

R

y

= 1/2

R

z

= 0

The operation’s result depends on what coordinate system we

use, and since the two versions of R have different lengths (one

being zero and the other nonzero), they don’t just represent the

same answer expressed in two different coordinate systems. Such

an operation will never be useful in physics, because experiments

show physics works the same regardless of which way we orient

the laboratory building! The useful vector operations, such as

addition and scalar multiplication, are rotationally invariant, i.e.,

come out the same regardless of the orientation of the coordi-

nate system.

All the vector techniques can be applied to any kind of vector,

but the graphical representation of vectors as arrows is particularly

natural for vectors that represent lengths and distances. We deﬁne a

vector called r whose components are the coordinates of a particular

point in space, r, n, and .. The ∆r vector, whose components are

∆r, ∆n, and ∆., can then be used to represent motion that starts at

190 Chapter 3 Conservation of Momentum

l / Example 57.

one point and ends at another. Adding two ∆r vectors is interpreted

as a trip with two legs: by computing the ∆r vector going from point

A to point B plus the vector from B to C, we ﬁnd the vector that

would have taken us directly from A to C.

Calculations with magnitude and direction

If you ask someone where Las Vegas is compared to Los Angeles,

she is unlikely to say that the ∆r is 290 km and the ∆n is 230 km,

in a coordinate system where the positive r axis is east and the n

axis points north. She will probably say instead that it’s 370 km

to the northeast. If she was being precise, she might specify the

direction as 38

◦

counterclockwise from east. In two dimensions, we

can always specify a vector’s direction like this, using a single angle.

A magnitude plus an angle suﬃce to specify everything about the

vector. The following two examples show how we use trigonometry

and the Pythagorean theorem to go back and forth between the r-n

and magnitude-angle descriptions of vectors.

Finding magnitude and angle from components example 57

> Given that the ∆r vector from LA to Las Vegas has ∆x=290 km

and ∆y=230 km, how would we ﬁnd the magnitude and direction

of ∆r?

> We ﬁnd the magnitude of ∆r from the Pythagorean theorem:

[∆r[ =

∆x

2

+ ∆y

2

= 370 km

We know all three sides of the triangle, so the angle θ can be

found using any of the inverse trig functions. For example, we

know the opposite and adjacent sides, so

θ = tan

−1

∆y

∆x

= 38

◦

.

Finding the components from the magnitude and angle example

58

> Given that the straight-line distance from Los Angeles to Las

Vegas is 370 km, and that the angle θ in the ﬁgure is 38

◦

, how

can the x and y components of the ∆r vector be found?

> The sine and cosine of θ relate the given information to the

information we wish to ﬁnd:

cos θ =

∆x

[∆r[

sin θ =

∆y

[∆r[

Section 3.4 Motion in Three Dimensions 191

m / Example 59.

Solving for the unknowns gives

∆x = [∆r[ cos θ

= 290 km

∆y = [∆r[ sin θ

= 230 km

The following example shows the correct handling of the plus

and minus signs, which is usually the main cause of mistakes by

students.

Negative components example 59

> San Diego is 120 km east and 150 km south of Los Angeles. An

airplane pilot is setting course from San Diego to Los Angeles. At

what angle should she set her course, measured counterclock-

wise from east, as shown in the ﬁgure?

> If we make the traditional choice of coordinate axes, with x

pointing to the right and y pointing up on the map, then her ∆x is

negative, because her ﬁnal x value is less than her initial x value.

Her ∆y is positive, so we have

∆x = −120 km

∆y = 150 km .

If we work by analogy with the example 57, we get

θ = tan

−1

∆y

∆x

= tan

−1

(−1.25)

= −51

◦

.

According to the usual way of deﬁning angles in trigonometry,

a negative result means an angle that lies clockwise from the x

axis, which would have her heading for the Baja California. What

went wrong? The answer is that when you ask your calculator to

take the arctangent of a number, there are always two valid pos-

sibilities differing by 180

◦

. That is, there are two possible angles

whose tangents equal -1.25:

tan 129

◦

= −1.25

tan(−51

◦

) = −1.25

You calculator doesn’t know which is the correct one, so it just

picks one. In this case, the one it picked was the wrong one, and

it was up to you to add 180

◦

to it to ﬁnd the right answer.

Addition of vectors given their components

The easiest type of vector addition is when you are in possession

of the components, and want to ﬁnd the components of their sum.

192 Chapter 3 Conservation of Momentum

p / Adding vectors graphically

by placing them tip-to-tail, like a

train.

n / Example 60.

San Diego to Las Vegas example 60

> Given the ∆x and ∆y values from the previous examples, ﬁnd

the ∆x and ∆y from San Diego to Las Vegas.

>

∆x

t ot al

= ∆x

1

+ ∆x

2

= −120 km+ 290 km

= 170 km

∆y

t ot al

= ∆y

1

+ ∆y

2

= 150 km+ 230 km

= 380

Addition of vectors given their magnitudes and directions

In this case, you must ﬁrst translate the magnitudes and direc-

tions into components, and the add the components.

Graphical addition of vectors

Often the easiest way to add vectors is by making a scale drawing

on a piece of paper. This is known as graphical addition, as opposed

to the analytic techniques discussed previously.

From San Diego to Las Vegas, graphically example 61

> Given the magnitudes and angles of the ∆r vectors from San

Diego to Los Angeles and from Los Angeles to Las Vegas, ﬁnd

the magnitude and angle of the ∆r vector from San Diego to Las

Vegas.

> Using a protractor and a ruler, we make a careful scale drawing,

as shown in ﬁgure o on page 194. A scale of 1 cm↔10 km was

chosen for this solution. With a ruler, we measure the distance

from San Diego to Las Vegas to be 3.8 cm, which corresponds to

380 km. With a protractor, we measure the angle θ to be 71

◦

.

Even when we don’t intend to do an actual graphical calculation

with a ruler and protractor, it can be convenient to diagram the

addition of vectors in this way, as shown in ﬁgure p. With ∆r

vectors, it intuitively makes sense to lay the vectors tip-to-tail and

draw the sum vector from the tail of the ﬁrst vector to the tip of

the second vector. We can do the same when adding other vectors

such as force vectors.

Unit vector notation

When we want to specify a vector by its components, it can be

cumbersome to have to write the algebra symbol for each compo-

nent:

∆r = 290 km, ∆n = 230 km

A more compact notation is to write

∆r = (290 km)ˆ x + (230 km)ˆ y,

Section 3.4 Motion in Three Dimensions 193

o / Example 61.

where the vectors ˆ x, ˆ y, and ˆ z, called the unit vectors, are deﬁned

as the vectors that have magnitude equal to 1 and directions lying

along the r, n, and . axes. In speech, they are referred to as “x-hat,”

“y-hat,” and “z-hat.”

A slightly diﬀerent, and harder to remember, version of this

notation is unfortunately more prevalent. In this version, the unit

vectors are called

ˆ

i,

ˆ

j, and

ˆ

k:

∆r = (290 km)

ˆ

i + (230 km)

ˆ

j .

Applications to relative motion, momentum, and force

Vector addition is the correct way to generalize the one-dimensional

concept of adding velocities in relative motion, as shown in the fol-

lowing example:

Velocity vectors in relative motion example 62

> You wish to cross a river and arrive at a dock that is directly

across from you, but the river’s current will tend to carry you

194 Chapter 3 Conservation of Momentum

q / Example 62

downstream. To compensate, you must steer the boat at an an-

gle. Find the angle θ, given the magnitude, [v

WL

[, of the water’s

velocity relative to the land, and the maximum speed, [v

BW

[, of

which the boat is capable relative to the water.

> The boat’s velocity relative to the land equals the vector sum of

its velocity with respect to the water and the water’s velocity with

respect to the land,

v

BL

= v

BW

+ v

WL

.

If the boat is to travel straight across the river, i.e., along the y

axis, then we need to have v

BL,x

= 0. This x component equals

the sum of the x components of the other two vectors,

v

B

L, x = v

B

W, x + v

W

L, x ,

or

0 = −[v

BW

[ sinθ + [v

WL

[ .

Solving for θ, we ﬁnd

sinθ = [v

WL

[´[v

BW

[ ,

so

θ = sin

−1

[v

WL

[

v

BW

.

How to generalize one-dimensional equations example 63

> How can the one-dimensional relationships

p

t ot al

= m

t ot al

v

cm

and

x

cm

=

¸

j

m

j

x

j

¸

j

m

j

be generalized to three dimensions?

> Momentum and velocity are vectors, since they have directions

in space. Mass is a scalar. If we rewrite the ﬁrst equation to show

the appropriate quantities notated as vectors,

p

t ot al

= m

t ot al

v

cm

,

we get a valid mathematical operation, the multiplication of a vec-

tor by a scalar. Similarly, the second equation becomes

r

cm

=

¸

j

m

j

r

j

¸

j

m

j

,

Section 3.4 Motion in Three Dimensions 195

r / Example 65.

which is also valid. Each term in the sum on top contains a vector

multiplied by a scalar, which gives a vector. Adding up all these

vectors gives a vector, and dividing by the scalar sum on the bot-

tom gives another vector.

This kind of wave-the-magic-wand-and-write-it-all-in-bold-face tech-

nique will always give the right generalization from one dimension

to three, provided that the result makes sense mathematically —

if you ﬁnd yourself doing something nonsensical, such as adding

a scalar to a vector, then you haven’t found the generalization

correctly.

Colliding coins example 64

> Take two identical coins, put one down on a piece of paper, and

slide the other across the paper, shooting it fairly rapidly so that

it hits the target coin off-center. If you trace the initial and ﬁnal

positions of the coins, you can determine the directions of their

momentum vectors after the collision. The angle between these

vectors is always fairly close to, but a little less than, 90 degrees.

Why is this?

> Let the velocity vector of the incoming coin be a, and let the two

outgoing velocity vectors be b and c. Since the masses are the

same, conservation of momentum amounts to a = b + c, which

means that it has to be possible to assemble the three vectors

into a triangle. If we assume that no energy is converted into

heat and sound, then conservation of energy gives (discarding

the common factor of m´2) a

2

= b

2

+ c

2

for the magnitudes of the

three vectors. This is the Pythagorean theorem, which will hold

only if the three vectors form a right triangle.

The fact that we observe the angle to be somewhat less than

90 degrees shows that the assumption used in the proof is only

approximately valid: a little energy is converted into heat and

sound. The opposite case would be a collision between two blobs

of putty, where the maximum possible amount of energy is con-

verted into heat and sound, the the two blobs ﬂy off together,

giving an angle of zero between their momentum vectors. The

real-life experiment interpolates between the ideal extremes of 0

and 90 degrees, but comes much closer to 90.

Force is a vector, and we add force vectors when more than one

force acts on the same object.

Pushing a block up a ramp example 65

> Figure r/1 shows a block being pushed up a frictionless ramp

at constant speed by an applied force F

a

. How much force is

required, in terms of the block’s mass, m, and the angle of the

ramp, θ?

> We analyzed this simple machine in example 36 on page 163

using the concept of work. Here we’ll do it using vector addition

196 Chapter 3 Conservation of Momentum

s / Archimedes’ principle works

regardless of whether the object

is a cube. The ﬂuid makes a force

on every square millimeter of the

object’s surface.

of forces. Figure r/2 shows the other two forces acting on the

block: a normal force, F

n

, created by the ramp, and the gravita-

tional force, F

g

. Because the block is being pushed up at constant

speed, it has zero acceleration, and the total force on it must be

zero. In ﬁgure r/3, we position all the force vectors tip-to-tail for

addition. Since they have to add up to zero, they must join up

without leaving a gap, so they form a triangle. Using trigonometry

we ﬁnd

F

a

= F

g

sin θ

= mg sin θ .

Buoyancy, again example 66

In example 10 on page 85, we found that the energy required to

raise a cube immersed in a ﬂuid is as if the cube’s mass had been

reduced by an amount equal to the mass of the ﬂuid that other-

wise would have been in the volume it occupies (Archimedes’

principle). From the energy perspective, this effect occurs be-

cause raising the cube allows a certain amount of ﬂuid to move

downward, and the decreased gravitational energy of the ﬂuid

tends to offset the increased gravitational energy of the cube. The

proof given there, however, could not easily be extended to other

shapes.

Thinking in terms of force rather than energy, it becomes easier

to give a proof that works for any shape. A certain upward force is

needed to support the object in ﬁgure s. If this force was applied,

then the object would be in equilibrium: the vector sum of all the

forces acting on it would be zero. These forces are F

a

, the upward

force just mentioned, F

g

, the downward force of gravity, and F

f

,

the total force from the ﬂuid:

F

a

+ F

g

+ F

f

= 0

Since the ﬂuid is under more pressure at a greater depth, the part

of the ﬂuid underneath the object tends to make more force than

the part above, so the ﬂuid tends to help support the object.

Now suppose the object was removed, and instantly replaced

with an equal volume of ﬂuid. The new ﬂuid would be in equi-

librium without any force applied to hold it up, so

F

gf

+ F

f

= 0 ,

where F

gf

, the weight of the ﬂuid, is not the same as F

g

, the

weight of the object, but F

f

is the same as before, since the pres-

sure of the surrounding ﬂuid is the same as before at any partic-

ular depth. We therefore have

F

a

= −

F

g

−F

gf

,

Section 3.4 Motion in Three Dimensions 197

t / Example 67.

u / An artist’s rendering of

what Cosmos 1 would have

looked like in orbit.

which is Archimedes’ principle in terms of force: the force re-

quired to support the object is lessened by an amount equal to

the weight of the ﬂuid that would have occupied its volume.

By the way, the word “pressure” that I threw around casually

in the preceding example has a precise technical deﬁnition: force

per unit area. The SI units of pressure are N´m

2

, which can be

abbreviated as pascals, 1 Pa = 1 N´m

2

. Atmospheric pressure is

about 100 kPa. By applying the equation F

g

+ F

f

= 0 to the top

and bottom surfaces of a cubical volume of ﬂuid, one can easily

prove that the diﬀerence in pressure between two diﬀerent depths

is ∆1 = ρo∆n. (In physics, “ﬂuid” can refer to either a gas or a

liquid.) Pressure is discussed in more detail in chapter 5.

A solar sail example 67

A solar sail, ﬁgure t/1, allows a spacecraft to get its thrust without

using internal stores of energy or having to carry along mass that

it can shove out the back like a rocket. Sunlight strikes the sail

and bounces off, transferring momentum to the sail. A working

30-meter-diameter solar sail, Cosmos 1, was built by an American

company, and was supposed to be launched into orbit aboard a

Russian booster launched from a submarine, but launch attempts

in 2001 and 2005 both failed.

In this example, we will calculate the optimal orientation of the

sail, assuming that “optimal” means changing the vehicle’s en-

ergy as rapidly as possible. For simplicity, we model the com-

plicated shape of the sail’s surface as a disk, seen edge-on in

ﬁgure t/2, and we assume that the craft is in a nearly circular orbit

around the sun, hence the 90-degree angle between the direction

of motion and the incoming sunlight. We assume that the sail is

100% reﬂective. The orientation of the sail is speciﬁed using the

angle θ between the incoming rays of sunlight and the perpen-

dicular to the sail. In other words, θ=0 if the sail is catching the

sunlight full-on, while θ=90

◦

means that the sail is edge-on to the

sun.

Conservation of momentum gives

p

l i ght ,i

= p

l i ght ,f

+ ∆p

sai l

,

where ∆p

sai l

is the change in momentum picked up by the sail.

Breaking this down into components, we have

0 = p

l i ght ,f ,x

+ ∆p

sai l ,x

and

p

l i ght ,i ,y

= p

l i ght ,f ,y

+ ∆p

sai l ,y

.

As in example 51 on page 183, the component of the force that

is directly away from the sun (up in ﬁgure t/2) doesn’t change the

energy of the craft, so we only care about ∆p

sai l ,x

, which equals

−p

l i ght ,f ,x

. The outgoing light ray forms an angle of 2θ with the

198 Chapter 3 Conservation of Momentum

w / Discussion question H.

v / Discussion question E.

negative y axis, or 270

◦

−2θ measured counterclockwise fromthe

x axis, so the useful thrust depends on −cos(270

◦

−2θ) = sin2θ.

However, this is all assuming a given amount of light strikes the

sail. During a certain time period, the amount of sunlight striking

the sail depends on the cross-sectional area the sail presents to

the sun, which is proportional to cos θ. For θ=90

◦

, cos θ equals

zero, since the sail is edge-on to the sun.

Putting together these two factors, the useful thrust is proportional

to sin 2θ cos θ, and this quantity is maximized for θ ≈ 35

◦

. A

counterintuitive fact about this maneuver is that as the space-

craft spirals outward, its total energy (kinetic plus gravitational)

increases, but its kinetic energy actually decreases!

Discussion Questions

A An object goes from one point in space to another. After it arrives at

its destination, how does the magnitude of its ∆r vector compare with the

distance it traveled?

B In several examples, I’ve dealt with vectors having negative com-

ponents. Does it make sense as well to talk about negative and positive

vectors?

C If you’re doing graphical addition of vectors, does it matter which

vector you start with and which vector you start from the other vector’s

tip?

D If you add a vector with magnitude 1 to a vector of magnitude 2,

what magnitudes are possible for the vector sum?

E Which of these examples of vector addition are correct, and which

are incorrect?

F Is it possible for an airplane to maintain a constant velocity vector

but not a constant [v[? How about the opposite – a constant [v[ but not a

constant velocity vector? Explain.

G New York and Rome are at about the same latitude, so the earth’s

rotation carries them both around nearly the same circle. Do the two cities

have the same velocity vector (relative to the center of the earth)? If not,

is there any way for two cities to have the same velocity vector?

H The ﬁgure shows a roller coaster car rolling down and then up under

the inﬂuence of gravity. Sketch the car’s velocity vectors and acceleration

vectors. Pick an interesting point in the motion and sketch a set of force

vectors acting on the car whose vector sum could have resulted in the

right acceleration vector.

I The following is a question commonly asked by students:

“Why does the force vector always have to point in the same direction

as the acceleration vector? What if you suddenly decide to change your

force on an object, so that your force is no longer pointing in the same

direction that the object is accelerating?”

What misunderstanding is demonstrated by this question? Suppose, for

example, a spacecraft is blasting its rear main engines while moving for-

ward, then suddenly begins ﬁring its sideways maneuvering rocket as

well. What does the student think Newton’s laws are predicting?

Section 3.4 Motion in Three Dimensions 199

J Debug the following incorrect solutions to this vector addition prob-

lem.

Problem: Freddi Fish

TM

swims 5.0 km northeast, and then 12.0 km in the

direction 55 degrees west of south. How far does she end up from her

starting point, and in what direction is she from her starting point?

Incorrect solution #1:

5.0 km+12.0 km=17.0 km

Incorrect solution #2:

(5.0 km)

2

+ (12.0 km)

2

=13.0 km

Incorrect solution #3:

Let A and B be her two ∆r vectors, and let C = A + B. Then

A

x

= (5.0 km) cos 45

◦

= 3.5 km

B

x

= (12.0 km) cos 55

◦

= 6.9 km

A

y

= (5.0 km) sin 45

◦

= 3.5 km

B

y

= (12.0 km) sin 55

◦

= 9.8 km

C

x

= A

x

+ B

x

= 10.4 km

C

y

= A

y

+ B

y

= 13.3 km

[C[ =

C

2

x

+ C

2

y

= 16.9 km

direction = tan

−1

(13.3´10.4)

= 52

◦

north of east

Incorrect solution #4:

(same notation as above)

A

x

= (5.0 km) cos 45

◦

= 3.5 km

B

x

= −(12.0 km) cos 55

◦

= −6.9 km

A

y

= (5.0 km) sin 45

◦

= 3.5 km

B

y

= −(12.0 km) sin55

◦

= −9.8 km

C

x

= A

x

+ B

x

= −3.4 km

C

y

= A

y

+ B

y

= −6.3 km

[C[ =

C

2

x

+ C

2

y

= 7.2 km

direction = tan

−1

(−6.3´ −3.4)

= 62

◦

north of east

200 Chapter 3 Conservation of Momentum

x / Visualizing the accelera-

tion vector.

Incorrect solution #5:

(same notation as above)

A

x

= (5.0 km) cos 45

◦

= 3.5 km

B

x

= −(12.0 km) sin55

◦

= −9.8 km

A

y

= (5.0 km) sin 45

◦

= 3.5 km

B

y

= −(12.0 km) cos 55

◦

= −6.9 km

C

x

= A

x

+ B

x

= −6.3 km

C

y

= A

y

+ B

y

= −3.4 km

[C[ =

C

2

x

+ C

2

y

= 7.2 km

direction = tan

−1

(−3.4´ −6.3)

= 28

◦

north of east

3.4.4 Calculus with vectors

Diﬀerentiation

In one dimension, we deﬁne the velocity as the derivative of the

position with respect to time, and we can think of the derivative as

what we get when we calculate ∆r´∆t for very short time intervals.

The quantity ∆r = r

f

− r

i

is calculated by subtraction. In three

dimensions, r becomes r, and the ∆r vector is calculated by vector

subtraction, ∆r = r

f

−r

i

. Vector subtraction is deﬁned component

by component, so when we take the derivative of a vector, this means

we end up taking the derivative component by component,

·

x

=

dr

dt

, ·

y

=

dn

dt

, ·

z

=

d.

dt

or

dr

dt

=

dr

dt

ˆ x +

dn

dt

ˆ y +

d.

dt

ˆ z .

All of this reasoning applies equally well to any derivative of a vector,

so for instance we can take the second derivative,

o

x

=

d·

x

dt

, o

y

=

d·

y

dt

, o

z

=

d·

z

dt

or

dr

dt

=

d·

x

dt

ˆ x +

d·

y

dt

ˆ y +

d·

z

dt

ˆ z .

A counterintuitive consequence of this is that the acceleration

vector does not need to be in the same direction as the motion. The

velocity vector points in the direction of motion, but by Newton’s

second law, a = F´:, the acceleration vector points in the same di-

rection as the force, not the motion. This is easiest to understand if

we take velocity vectors from two diﬀerent moments in the motion,

Section 3.4 Motion in Three Dimensions 201

y / This ﬁgure shows an intu-

itive justiﬁcation for the fact

proved mathematically in the

example, that the direction of the

force and acceleration in circular

motion is inward. The heptagon,

2, is a better approximation to

a circle than the triangle, 1. To

make an inﬁnitely good approx-

imation to circular motion, we

would need to use an inﬁnitely

large number of inﬁnitesimal taps,

which would amount to a steady

inward force.

and visualize subtracting them graphically to make a ∆v vector.

The direction of the ∆v vector tells us the direction of the accelera-

tion vector as well, since the derivative dv´dt can be approximated

as ∆v´∆t. As shown in ﬁgure x/1, a change in the magnitude of

the velocity vector implies an acceleration that is in the direction of

motion. A change in the direction of the velocity vector produces

an acceleration perpendicular to the motion, x/2.

Circular motion example 68

> An object moving in a circle of radius r in the x-y plane has

x = r cos ωt and

y = r sin ωt ,

where ω is the number of radians traveled per second, and the

positive or negative sign indicates whether the motion is clock-

wise or counterclockwise. What is its acceleration?

> The components of the velocity are

v

x

= −ωr sin ωt and

v

y

= ωr cos ωt ,

and for the acceleration we have

a

x

= −ω

2

r cos ωt and

a

y

= −ω

2

r sin ωt .

The acceleration vector has cosines and sines in the same places

as the r vector, but with minus signs in front, so it points in the op-

posite direction, i.e., toward the center of the circle. By Newton’s

second law, a=F/m, this shows that the force must be inward as

well; without this force, the object would ﬂy off straight.

The magnitude of the acceleration is

[a[ =

a

2

x

+ a

2

y

= ω

2

r .

It makes sense that ω is squared, since reversing the sign of ω

corresponds to reversing the direction of motion, but the acceler-

ation is toward the center of the circle, regardless of whether the

motion is clockwise or counterclockwise. This result can also be

rewritten in the form

[a[ =

[v[

2

r

.

Although I’ve relegated the results o = ω

2

: = [v[

2

´: to an ex-

ample because they are a straightforward corollary of more general

202 Chapter 3 Conservation of Momentum

z / The total force in the forward-

backward direction is zero in both

cases.

aa / There is no outward force

on the bowling ball, but in the

noninertial frame it seems like

one exists.

principles already developed, they are important and useful enough

to record for later use. These results are counterintuitive as well.

Until Newton, physicists and laypeople alike had assumed that the

planets would need a force to push them forward in their orbits.

Figure y may help to make it more plausible that only an inward

force is required. A forward force might be needed in order to cancel

out a backward force such as friction, z, but the total force in the

forward-backward direction needs to be exactly zero for constant-

speed motion. When you are in a car undergoing circular motion,

there is also a strong illusion of an outward force. But what object

could be making such a force? The car’s seat makes an inward force

on you, not an outward one. There is no object that could be ex-

erting an outward force on your body. In reality, this force is an

illusion that comes from our brain’s intuitive eﬀorts to interpret the

situation within a noninertial frame of reference. As shown in ﬁgure

aa, we can describe everything perfectly well in an inertial frame

of reference, such as the frame attached to the sidewalk. In such a

frame, the bowling ball goes straight because there is no force on it.

The wall of the truck’s bed hits the ball, not the other way around.

Integration

An integral is really just a sum of many inﬁnitesimally small

terms. Since vector addition is deﬁned in terms of addition of the

components, an integral of a vector quantity is found by doing inte-

grals component by component.

Projectile motion example 69

> Find the motion of an object whose acceleration vector is con-

stant, for instance a projectile moving under the inﬂuence of grav-

ity.

> We integrate the acceleration to get the velocity, and then inte-

grate the velocity to get the position as a function of time. Doing

this to the x component of the acceleration, we ﬁnd

x =

a

x

dt

dt

=

(a

x

t + v

xo

) dt ,

where v

xo

is a constant of integration, and

x =

1

2

a

x

t

2

+ v

xo

t + x

o

.

Similarly, y=(1/2)a

y

t

2

+v

yo

t +y

o

and z = (1/2)a

z

t

2

+v

zo

t +z

o

. Once

one has gained a little conﬁdence, it becomes natural to do the

Section 3.4 Motion in Three Dimensions 203

ac / Discussion question E.

ab / Discussion question A.

whole thing as a single vector integral,

r =

a dt

dt

=

(at + v

o

) dt

=

1

2

at

2

+ v

o

t + r

o

,

where now the constants of integration are vectors.

Discussion Questions

A In the game of crack the whip, a line of people stand holding hands,

and then they start sweeping out a circle. One person is at the center, and

rotates without changing location. At the opposite end is the person who

is running the fastest, in a wide circle. In this game, someone always ends

up losing their grip and ﬂying off. Suppose the person on the end loses

her grip. What path does she follow as she goes ﬂying off? (Assume she

is going so fast that she is really just trying to put one foot in front of the

other fast enough to keep from falling; she is not able to get any signiﬁcant

horizontal force between her feet and the ground.)

B Suppose the person on the outside is still holding on, but feels that

she may loose her grip at any moment. What force or forces are acting

on her, and in what directions are they? (We are not interested in the

vertical forces, which are the earth’s gravitational force pulling down, and

the ground’s normal force pushing up.)

C Suppose the person on the outside is still holding on, but feels that

she may loose her grip at any moment. What is wrong with the following

analysis of the situation? “The person whose hand she’s holding exerts

an inward force on her, and because of Newton’s third law, there’s an

equal and opposite force acting outward. That outward force is the one

she feels throwing her outward, and the outward force is what might make

her go ﬂying off, if it’s strong enough.”

D If the only force felt by the person on the outside is an inward force,

why doesn’t she go straight in?

E In the amusement park ride shown in the ﬁgure, the cylinder spins

faster and faster until the customer can pick her feet up off the ﬂoor with-

out falling. In the old Coney Island version of the ride, the ﬂoor actually

dropped out like a trap door, showing the ocean below. (There is also a

version in which the whole thing tilts up diagonally, but we’re discussing

the version that stays ﬂat.) If there is no outward force acting on her, why

does she stick to the wall? Analyze all the forces on her.

F What is an example of circular motion where the inward force is a

normal force? What is an example of circular motion where the inward

force is friction? What is an example of circular motion where the inward

force is the sum of more than one force?

G Does the acceleration vector always change continuously in circular

motion? The velocity vector?

H A certain amount of force is needed to provide the acceleration of

circular motion. What if were are exerting a force perpendicular to the

direction of motion in an attempt to make an object trace a circle of radius

r , but the force isn’t as big as m[v[

2

´r ?

204 Chapter 3 Conservation of Momentum

I Suppose a rotating space station is built that gives its occupants the

illusion of ordinary gravity. What happens when a person in the station

lets go of a ball? What happens when she throws a ball straight “up” in

the air (i.e., towards the center)?

3.4.5 The dot product

How would we generalize the mechanical work equation d1 =

1dr to three dimensions? Energy is a scalar, but force and distance

are vectors, so it might seem at ﬁrst that the kind of “magic-wand”

generalization discussed on page 196 failed here, since we don’t know

of any way to multiply two vectors together to get a scalar. Actually,

this is Nature giving us a hint that there is such a multiplication

operation waiting for us to invent it, and since Nature is simple, we

can be assured that this operation will work just ﬁne in any situation

where a similar generalization is required.

How should this operation be deﬁned? Let’s consider what we

would get by performing this operation on various combinations of

the unit vectors ˆ x, ˆ y, and ˆ z. The conventional notation for the

operation is to put a dot, , between the two vectors, and the op-

eration is therefore called the dot product. Rotational invariance

requires that we handle the three coordinate axes in the same way,

without giving special treatment to any of them, so we must have

ˆ x ˆ x = ˆ y ˆ y = ˆ z ˆ z and ˆ x ˆ y = ˆ y ˆ z = ˆ z ˆ x. This is supposed

to be a way of generalizing ordinary multiplication, so for consis-

tency with the property 1 1 = 1 of ordinary numbers, the result

of multiplying a magnitude-one vector by itself had better be the

scalar 1, so ˆ x ˆ x = ˆ y ˆ y = ˆ z ˆ z = 1. Furthermore, there is no way

to satisfy rotational invariance unless we deﬁne the mixed products

to be zero, ˆ x ˆ y = ˆ y ˆ z = ˆ z ˆ x = 0; for example, a 90-degree ro-

tation of our frame of reference about the . axis reverses the sign

of ˆ x ˆ y, but rotational invariance requires that ˆ x ˆ y produce the

same result either way, and zero is the only number that stays the

same when we reverse its sign. Establishing these six products of

unit vectors suﬃces to deﬁne the operation in general, since any

two vectors that we want to multiply can be broken down into com-

ponents, e.g., (2ˆ x + 3ˆ z) ˆ z = 2ˆ x ˆ z + 3ˆ z ˆ z = 0 + 3 = 3. Thus

by requiring rotational invariance and consistency with multiplica-

tion of ordinary numbers, we ﬁnd that there is only one possible

way to deﬁne a multiplication operation on two vectors that gives a

scalar as the result.

17

The dot product has all of the properties we

normally associate with multiplication, except that there is no “dot

division.”

Dot product in terms of components example 70

If we know the components of any two vectors b and c, we can

17

There is, however, a diﬀerent operation, discussed in the next chapter, which

multiplies two vectors to give a vector.

Section 3.4 Motion in Three Dimensions 205

ae / Breaking trail, by Walter

E. Bohl. The pack horse is not

doing any work on the pack,

because the pack is moving in a

horizontal line at constant speed,

and therefore there is no kinetic

or gravitational energy being

transferred into or out of it.

ad / The geometric interpre-

tation of the dot product.

ﬁnd their dot product:

b c =

b

x

ˆ x + b

y

ˆ y + b

z

ˆ z

c

x

ˆ x + c

y

ˆ y + c

z

ˆ z

= b

x

c

x

+ b

y

c

y

+ b

z

c

z

.

Magnitude expressed with a dot product example 71

If we take the dot product of any vector b with itself, we ﬁnd

b b =

b

x

ˆ x + b

y

ˆ y + b

z

ˆ z

b

x

ˆ x + b

y

ˆ y + b

z

ˆ z

= b

2

x

+ b

2

y

+ b

2

z

,

so its magnitude can be expressed as

[b[ =

√

b b .

We will often write b

2

to mean b b, when the context makes

it clear what is intended. For example, we could express kinetic

energy as (1/2)m[v[

2

, (1/2)mvv, or (1/2)mv

2

. In the third version,

nothing but context tells us that v really stands for the magnitude

of some vector v.

Geometric interpretation example 72

In ﬁgure ad, vectors a, b, and c represent the sides of a triangle,

and a = b + c. The law of cosines gives

[c[

2

= [a[

2

+ [b[

2

−2[a[[b[ cos θ .

Using the result of example 71, we can also write this as

[c[

2

= c c

= (a −b) (a −b)

= a a + b b −2a b .

Matching up terms in these two expressions, we ﬁnd

a b = [a[[b[ cos θ ,

which is a geometric interpretation for the dot product.

The result of example 72 is very useful. It gives us a way to

ﬁnd the angle between two vectors if we know their components. It

can be used to show that the dot product of any two perpendicular

vectors is zero. It also leads to a nifty proof that the dot product

is rotationally invariant — up until now I’ve only proved that if a

rotationally invariant product exists, the dot product is it — because

angles and lengths aren’t aﬀected by a rotation, so the right side of

the equation is rotationally invariant, and therefore so is the left

side.

206 Chapter 3 Conservation of Momentum

I introduced the whole discussion of the dot product by way of

generalizing the equation d1 = 1dr to three dimensions. In terms

of a dot product, we have

d1 = F dr .

If F is a constant, integrating both sides gives

∆1 = F ∆r .

(If that step seemed like black magic, try writing it out in terms

of components.) If the force is perpendicular to the motion, as in

ﬁgure ae, then the work done is zero. The pack horse is doing work

within its own body, but is not doing work on the pack.

Pushing a lawnmower example 73

> I push a lawnmower with a force F=(110 N)ˆ x −(40 N)ˆ y, and the

total distance I travel is (100 m)ˆ x. How much work do I do?

> The dot product is 11000 Nm = 11000 J.

A good application of the dot product is to allow us to write a

simple, streamlined proof of separate conservation of the momentum

components. (You can skip the proof without losing the continuity

of the text.) The argument is a generalization of the one-dimensional

proof on page 126, and makes the same assumption about the type

of system of particles we’re dealing with. The kinetic energy of

one of the particles is (1´2):v v, and when we transform into a

diﬀerent frame of reference moving with velocity u relative to the

original frame, the one-dimensional rule · →· +n turns into vector

addition, v → v + u. In the new frame of reference, the kinetic

energy is (1´2):(v + u) (v + u). For a system of n particles, we

have

1 =

n

¸

j=1

1

2

:

j

(v

j

+u) (v

j

+u)

=

1

2

n

¸

j=1

:

j

v

j

v

j

+ 2

n

¸

j=1

:

j

v

j

u +

n

¸

j=1

:

j

u u

¸

¸

.

As in the proof on page 126, the ﬁrst sum is simply the total kinetic

energy in the original frame of reference, and the last sum is a con-

stant, which has no eﬀect on the validity of the conservation law.

The middle sum can be rewritten as

2

n

¸

j=1

:

j

v

j

u = 2 u

n

¸

j=1

:

j

v

j

= 2 u

n

¸

j=1

p

j

,

so the only way energy can be conserved for all values of u is if the

vector sum of the momenta is conserved as well.

Section 3.4 Motion in Three Dimensions 207

af / An object moves through

a ﬁeld of force.

3.4.6 Gradients and line integrals (optional)

This subsection introduces a little bit of vector calculus. It can

be omitted without loss of continuity, but the techniques will be

needed in our study of electricity and magnetism, and it may be

helpful to be exposed to them in easy-to-visualize mechanical con-

texts before applying them to invisible electrical and magnetic phe-

nomena.

In physics we often deal with ﬁelds of force, meaning situations

where the force on an object depends on its position. For instance,

ﬁgure af could represent a map of the trade winds aﬀecting a sailing

ship, or a chart of the gravitational forces experienced by a space

probe entering a double-star system. An object moving under the

inﬂuence of this force will not necessarily be moving in the same

direction as the force at every moment. The sailing ship can tack

against the wind, due to the force from the water on the keel. The

space probe, if it entered from the top of the diagram at high speed,

would start to curve around to the right, but its inertia would carry

it forward, and it wouldn’t instantly swerve to match the direction

of the gravitational force. For convenience, we’ve deﬁned the gravi-

tational ﬁeld, g, as the force per unit mass, but that trick only leads

to a simpliﬁcation because the gravitational force on an object is

proportional to its mass. Since this subsection is meant to apply

to any kind of force, we’ll discuss everything in terms of the actual

force vector, F, in units of newtons.

If an object moves through the ﬁeld of force along some curved

path from point r

1

to point r

2

, the force will do a certain amount

of work on it. To calculate this work, we can break the path up

into inﬁnitesimally short segments, ﬁnd the work done along each

segment, and add them all up. For an object traveling along a nice

straight r axis, we use the symbol dr to indicate the length of any

inﬁnitesimally short segment. In three dimensions, moving along a

curve, each segment is a tiny vector dr = ˆ xdr + ˆ ydn + ˆ zd.. The

work theorem can be expressed as a dot product, so the work done

along a segment is F dr. We want to integrate this, but we don’t

know how to integrate with respect to a variable that’s a vector,

so let’s deﬁne a variable : that indicates the distance traveled so

far along the curve, and integrate with respect to it instead. The

expression F dr can be rewritten as [F[ [dr[ cos θ, where θ is the

angle between F and dr. But [dr[ is simply d:, so the amount of

work done becomes

∆1 =

r

2

r

1

[F[ cos θ d: .

Both F and θ are functions of :. As a matter of notation, it’s

cumbersome to have to write the integral like this. Vector notation

was designed to eliminate this kind of drudgery. We therefore deﬁne

208 Chapter 3 Conservation of Momentum

the line integral

C

F dr

as a way of notating this type of integral. The ‘C’ refers to the curve

along which the object travels. If we don’t know this curve then we

typically can’t evaluate the line integral just by knowing the initial

and ﬁnal positions r

1

and r

2

.

The basic idea of calculus is that integration undoes diﬀeren-

tiation, and vice-versa. In one dimension, we could describe an

interaction either in terms of a force or in terms of an interaction

energy. We could integrate force with respect to position to ﬁnd

minus the energy, or we could ﬁnd the force by taking minus the

derivative of the energy. In the line integral, position is represented

by a vector. What would it mean to take a derivative with respect

to a vector? The correct way to generalize the derivative dl´dr to

three dimensions is to replace it with the following vector,

dl

dr

ˆ x +

dl

dn

ˆ y +

dl

d.

ˆ z ,

called the gradient of l, and written with an upside-down delta

18

like this, ∇l. Each of these three derivatives is really what’s known

as a partial derivative. What that means is that when you’re diﬀer-

entiating l with respect to r, you’re supposed to treat n and . and

constants, and similarly when you do the other two derivatives. To

emphasize that a derivative is a partial derivative, it’s customary to

write it using the symbol ∂ in place of the diﬀerential d’s. Putting

all this notation together, we have

∇l =

∂l

∂r

ˆ x +

∂l

∂n

ˆ y +

∂l

∂.

ˆ z [deﬁnition of the gradient] .

The gradient looks scary, but it has a very simple physical inter-

pretation. It’s a vector that points in the direction in which l is

increasing most rapidly, and it tells you how rapidly l is increasing

in that direction. For instance, sperm cells in plants and animals

ﬁnd the egg cells by traveling in the direction of the gradient of the

concentration of certain hormones. When they reach the location

of the strongest hormone concentration, they ﬁnd their destiny. In

terms of the gradient, the force corresponding to a given interaction

energy is F = −∇l.

Force exerted by a spring example 74

In one dimension, Hooke’s law is U = (1/2)kx

2

. Suppose we

tether one end of a spring to a post, but it’s free to stretch and

swing around in a plane. Let’s say its equilibrium length is zero,

and let’s choose the origin of our coordinate system to be at the

18

The symbol ∇ is called a “nabla.” Cool word!

Section 3.4 Motion in Three Dimensions 209

post. Rotational invariance requires that its energy only depend

on the magnitude of the r vector, not its direction, so in two di-

mensions we have U = (1/2)k[r[

2

= (1/2)k

x

2

+ y

2

. The force

exerted by the spring is then

F = −∇U

= −

∂U

∂x

ˆ x −

∂U

∂y

ˆ y

= −kx ˆ x −ky ˆ y .

The magnitude of this force vector is k[r[, and its direction is to-

ward the origin.

This chapter is summarized on page 884. Notation and terminology

are tabulated on pages 877-878.

210 Chapter 3 Conservation of Momentum

Problems

The symbols

√

, , etc. are explained on page 226.

1 Derive a formula expressing the kinetic energy of an object in

terms of its momentum and mass.

√

2 Two people in a rowboat wish to move around without causing

the boat to move. What should be true about their total momen-

tum? Explain.

3 A bullet leaves the barrel of a gun with a kinetic energy of 90

J. The gun barrel is 50 cm long. The gun has a mass of 4 kg, the

bullet 10 g.

(a) Find the bullet’s ﬁnal velocity.

√

(b) Find the bullet’s ﬁnal momentum.

√

(c) Find the momentum of the recoiling gun.

(d) Find the kinetic energy of the recoiling gun, and explain why

the recoiling gun does not kill the shooter.

√

4 The big diﬀerence between the equations for momentum and

kinetic energy is that one is proportional to · and one to ·

2

. Both,

however, are proportional to :. Suppose someone tells you that

there’s a third quantity, funkosity, deﬁned as 1 = :

2

·, and that

funkosity is conserved. How do you know your leg is being pulled?

> Solution, p. 870

5 A ball of mass 2: collides head-on with an initially stationary

ball of mass :. No kinetic energy is transformed into heat or sound.

In what direction is the mass-2: ball moving after the collision, and

how fast is it going compared to its original velocity?

> Answer, p. 867

6 A very massive object with velocity · collides head-on with

an object at rest whose mass is very small. No kinetic energy is

converted into other forms. Prove that the low-mass object recoils

with velocity 2·. [Hint: Use the center-of-mass frame of reference.]

7 A mass : moving at velocity · collides with a stationary target

having the same mass :. Find the maximum amount of energy that

can be released as heat and sound.

8 A rocket ejects exhaust with an exhaust velocity n. The rate at

which the exhaust mass is used (mass per unit time) is /. We assume

that the rocket accelerates in a straight line starting from rest, and

that no external forces act on it. Let the rocket’s initial mass (fuel

plus the body and payload) be :

i

, and :

f

be its ﬁnal mass, after all

the fuel is used up. (a) Find the rocket’s ﬁnal velocity, ·, in terms

of n, :

i

, and :

f

. (b) A typical exhaust velocity for chemical rocket

engines is 4000 m/s. Estimate the initial mass of a rocket that could

accelerate a one-ton payload to 10% of the speed of light, and show

that this design won’t work. (For the sake of the estimate, ignore

Problems 211

Problem 16.

the mass of the fuel tanks.)

9 An object is observed to be moving at constant speed along

a line. Can you conclude that no forces are acting on it? Explain.

[Based on a problem by Serway and Faughn.]

10 A car is normally capable of an acceleration of 3 m/s

2

.

If it is towing a trailer with half as much mass as the car itself,

what acceleration can it achieve? [Based on a problem from PSSC

Physics.]

11 (a) Let T be the maximum tension that an elevator’s cable can

withstand without breaking, i.e., the maximum force it can exert.

If the motor is programmed to give the car an acceleration o, what

is the maximum mass that the car can have, including passengers,

if the cable is not to break?

√

(b) Interpret the equation you derived in the special cases of o = 0

and of a downward acceleration of magnitude o.

12 When the contents of a refrigerator cool down, the changed

molecular speeds imply changes in both momentum and energy.

Why, then, does a fridge transfer power through its radiator coils,

but not force? > Solution, p. 870

13 A helicopter of mass : is taking oﬀ vertically. The only

forces acting on it are the earth’s gravitational force and the force,

1

air

, of the air pushing up on the propeller blades.

(a) If the helicopter lifts oﬀ at t=0, what is its vertical speed at time

t?

(b) Plug numbers into your equation from part a, using :=2300 kg,

1

air

=27000 N, and t=4.0 s.

√

14 A blimp is initially at rest, hovering, when at t = 0 the pilot

turns on the motor of the propeller. The motor cannot instantly

get the propeller going, but the propeller speeds up steadily. The

steadily increasing force between the air and the propeller is given

by the equation 1 = /t, where / is a constant. If the mass of the

blimp is :, ﬁnd its position as a function of time. (Assume that

during the period of time you’re dealing with, the blimp is not yet

moving fast enough to cause a signiﬁcant backward force due to air

resistance.)

√

15 A car is accelerating forward along a straight road. If the force

of the road on the car’s wheels, pushing it forward, is a constant 3.0

kN, and the car’s mass is 1000 kg, then how long will the car take

to go from 20 m/s to 50 m/s? > Solution, p. 870

16 A little old lady and a pro football player collide head-on.

Compare their forces on each other, and compare their accelerations.

Explain.

212 Chapter 3 Conservation of Momentum

Problem 19.

17 The earth is attracted to an object with a force equal and

opposite to the force of the earth on the object. If this is true,

why is it that when you drop an object, the earth does not have an

acceleration equal and opposite to that of the object?

18 When you stand still, there are two forces acting on you,

the force of gravity (your weight) and the normal force of the ﬂoor

pushing up on your feet. Are these forces equal and opposite? Does

Newton’s third law relate them to each other? Explain.

19 Today’s tallest buildings are really not that much taller

than the tallest buildings of the 1940s. The main problem with

making an even taller skyscraper is that every elevator needs its own

shaft running the whole height of the building. So many elevators

are needed to serve the building’s thousands of occupants that the

elevator shafts start taking up too much of the space within the

building. An alternative is to have elevators that can move both

horizontally and vertically: with such a design, many elevator cars

can share a few shafts, and they don’t get in each other’s way too

much because they can detour around each other. In this design,

it becomes impossible to hang the cars from cables, so they would

instead have to ride on rails which they grab onto with wheels.

Friction would keep them from slipping. The ﬁgure shows such a

frictional elevator in its vertical travel mode. (The wheels on the

bottom are for when it needs to switch to horizontal motion.)

(a) If the coeﬃcient of static friction between rubber and steel is

j

s

, and the maximum mass of the car plus its passengers is `,

how much force must there be pressing each wheel against the rail

in order to keep the car from slipping? (Assume the car is not

accelerating.)

√

(b) Show that your result has physically reasonable behavior with

respect to j

s

. In other words, if there was less friction, would the

wheels need to be pressed more ﬁrmly or less ﬁrmly? Does your

equation behave that way?

20 A tugboat of mass : pulls a ship of mass `, accelerating

it. Ignore ﬂuid friction acting on their hulls, although there will of

course need to be ﬂuid friction acting on the tug’s propellers.

(a) If the force acting on the tug’s propeller is 1, what is the tension,

T, in the cable connecting the two ships? > Hint, p. 857

√

(b) Interpret your answer in the special cases of ` = 0 and ` = ∞.

21 Someone tells you she knows of a certain type of Central

American earthworm whose skin, when rubbed on polished dia-

mond, has j

k

j

s

. Why is this not just empirically unlikely but

logically suspect?

Problems 213

Problem 23, part c.

22 A uranium atom deep in the earth spits out an alpha particle.

An alpha particle is a fragment of an atom. This alpha particle has

initial speed ·, and travels a distance d before stopping in the earth.

(a) Find the force, 1, that acted on the particle, in terms of ·, d,

and its mass, :. Don’t plug in any numbers yet. Assume that the

force was constant.

√

(b) Show that your answer has the right units.

(c) Discuss how your answer to part a depends on all three variables,

and show that it makes sense. That is, for each variable, discuss

what would happen to the result if you changed it while keeping the

other two variables constant. Would a bigger value give a smaller

result, or a bigger result? Once you’ve ﬁgured out this mathematical

relationship, show that it makes sense physically.

(d) Evaluate your result for : = 6.710

−27

kg, · = 2.010

4

km/s,

and d = 0.71 mm.

√

23 You are given a large sealed box, and are not allowed to open

it. Which of the following experiments measure its mass, and which

measure its weight? [Hint: Which experiments would give diﬀerent

results on the moon?]

(a) Put it on a frozen lake, throw a rock at it, and see how fast it

scoots away after being hit.

(b) Drop it from a third-ﬂoor balcony, and measure how loud the

sound is when it hits the ground.

(c) As shown in the ﬁgure, connect it with a spring to the wall, and

watch it vibrate.

> Solution, p. 871

24 While escaping from the palace of the evil Martian em-

peror, Sally Spacehound jumps from a tower of height / down to

the ground. Ordinarily the fall would be fatal, but she ﬁres her

blaster riﬂe straight down, producing an upward force of magnitude

1

B

. This force is insuﬃcient to levitate her, but it does cancel out

some of the force of gravity. During the time t that she is falling,

Sally is unfortunately exposed to ﬁre from the emperor’s minions,

and can’t dodge their shots. Let : be her mass, and o the strength

of gravity on Mars.

(a) Find the time t in terms of the other variables.

(b) Check the units of your answer to part a.

(c) For suﬃciently large values of 1

B

, your answer to part a becomes

nonsense — explain what’s going on.

√

25 When I cook rice, some of the dry grains always stick to the

measuring cup. To get them out, I turn the measuring cup upside-

down, and hit the back of the cup with my hand. Explain why this

works, and why its success depends on hitting the cup hard enough.

214 Chapter 3 Conservation of Momentum

Problem 29.

26 A ﬂexible rope of mass : and length 1 slides without friction

over the edge of a table. Let r be the length of the rope that is

hanging over the edge at a given moment in time.

(a) Show that r satisﬁes the equation of motion d

2

r´dt

2

= or´1.

[Hint: Use 1 = dj´dt, which allows you to handle the two parts of

the rope separately even though mass is moving out of one part and

into the other.]

(b) Give a physical explanation for the fact that a larger value of

r on the right-hand side of the equation leads to a greater value of

the acceleration on the left side.

(c) When we take the second derivative of the function r(t) we are

supposed to get essentially the same function back again, except

for a constant out in front. The function c

x

has the property that

it is unchanged by diﬀerentiation, so it is reasonable to look for

solutions to this problem that are of the form r = /c

ct

, where / and

c are constants. Show that this does indeed provide a solution for

two speciﬁc values of c (and for any value of /).

(d) Show that the sum of any two solutions to the equation of motion

is also a solution.

(e) Find the solution for the case where the rope starts at rest at

t = 0 with some nonzero value of r.

In problems 27-31, analyze the forces using a table in the format

shown in section 3.2.6. Analyze the forces in which the italicized

object participates.

27 A magnet is stuck underneath a parked car. (See instructions

above.)

28 Analyze two examples of objects at rest relative to the earth

that are being kept from falling by forces other than the normal

force. Do not use objects in outer space, and do not duplicate

problem 27 or 31. (See instructions above.)

29 A person is rowing a boat, with her feet braced. She is doing

the part of the stroke that propels the boat, with the ends of the

oars in the water (not the part where the oars are out of the water).

(See instructions above.)

30 A farmer is in a stall with a cow when the cow decides

to press him against the wall, pinning him with his feet oﬀ the

ground. Analyze the forces in which the farmer participates. (See

instructions above.)

31 A propeller plane is cruising east at constant speed and

altitude. (See instructions above.)

Problems 215

Problem 33.

Problem 32

32 The ﬁgure shows a stack of two blocks, sitting on top of a table

that is bolted to the ﬂoor. All three objects are made from iden-

tical wood, with their surfaces ﬁnished identically using the same

sandpaper. We tap the middle block, giving it an initial velocity ·

to the right. The tap is executed so rapidly that almost no initial

velocity is imparted to the top block.

(a) Find the time that will elapse until the slipping between the top

and middle blocks stops. Express your answer in terms of ·, :, `,

o, and the relevant coeﬃcient of friction.

√

(b) Show that your answer makes sense in terms of units.

(c) Check that your result has the correct behavior when you make

: bigger or smaller. Explain. This means that you should discuss

the mathematical behavior of the result, and then explain how this

corresponds to what would really happen physically.

(d) Similarly, discuss what happens when you make ` bigger or

smaller.

(e) Similarly, discuss what happens when you make o bigger or

smaller.

33 Ginny has a plan. She is going to ride her sled while her dog

Foo pulls her, and she holds on to his leash. However, Ginny hasn’t

taken physics, so there may be a problem: she may slide right oﬀ

the sled when Foo starts pulling.

(a) Analyze all the forces in which Ginny participates, making a

table as in subsection 3.2.6.

(b) Analyze all the forces in which the sled participates.

(c) The sled has mass :, and Ginny has mass `. The coeﬃcient

of static friction between the sled and the snow is j

1

, and j

2

is

the corresponding quantity for static friction between the sled and

her snow pants. Ginny must have a certain minimum mass so that

she will not slip oﬀ the sled. Find this in terms of the other three

variables.

√

(d) Interpreting your equation from part c, under what conditions

will there be no physically realistic solution for `? Discuss what

this means physically.

34 In each case, identify the force that causes the acceleration,

and give its Newton’s-third-law partner. Describe the eﬀect of the

partner force. (a) A swimmer speeds up. (b) A golfer hits the ball

oﬀ of the tee. (c) An archer ﬁres an arrow. (d) A locomotive slows

down. > Solution, p. 871

35 A cop investigating the scene of an accident measures the

length 1 of a car’s skid marks in order to ﬁnd out its speed · at

the beginning of the skid. Express · in terms of 1 and any other

relevant variables.

√

36 An ice skater builds up some speed, and then coasts across

the ice passively in a straight line. (a) Analyze the forces.

(b) If his initial speed is ·, and the coeﬃcient of kinetic friction is j

k

,

ﬁnd the maximum theoretical distance he can glide before coming

216 Chapter 3 Conservation of Momentum

Problem 38

to a stop. Ignore air resistance.

√

(c) Show that your answer to part b has the right units.

(d) Show that your answer to part b depends on the variables in a

way that makes sense physically.

(e) Evaluate your answer numerically for j

k

= 0.0046, and a world-

record speed of 14.58 m/s. (The coeﬃcient of friction was measured

by De Koning et al., using special skates worn by real speed skaters.)

√

(f) Comment on whether your answer in part e seems realistic. If it

doesn’t, suggest possible reasons why.

37 (a) Using the solution of problem 37 on page 121, predict

how the spring constant of a ﬁber will depend on its length and

cross-sectional area.

(b) The constant of proportionality is called the Young’s modulus,

1, and typical values of the Young’s modulus are about 10

10

to

10

11

. What units would the Young’s modulus have in the SI system?

> Solution, p. 871

38 This problem depends on the results of problems problem 37

on page 121 and problem 37 from this chapter. When atoms form

chemical bonds, it makes sense to talk about the spring constant of

the bond as a measure of how “stiﬀ” it is. Of course, there aren’t

really little springs — this is just a mechanical model. The purpose

of this problem is to estimate the spring constant, /, for a single

bond in a typical piece of solid matter. Suppose we have a ﬁber,

like a hair or a piece of ﬁshing line, and imagine for simplicity that

it is made of atoms of a single element stacked in a cubical manner,

as shown in the ﬁgure, with a center-to-center spacing /. A typical

value for / would be about 10

−10

m.

(a) Find an equation for / in terms of /, and in terms of the Young’s

modulus, 1, deﬁned in problem 37 and its solution.

(b) Estimate / using the numerical data given in problem 37.

(c) Suppose you could grab one of the atoms in a diatomic molecule

like H

2

or O

2

, and let the other atom hang vertically below it. Does

the bond stretch by any appreciable fraction due to gravity?

39 This problem has been deleted.

40 Many ﬁsh have an organ known as a swim bladder, an air-

ﬁlled cavity whose main purpose is to control the ﬁsh’s buoyancy

and allow it to keep from rising or sinking without having to use its

muscles. In some ﬁsh, however, the swim bladder (or a small exten-

sion of it) is linked to the ear and serves the additional purpose of

amplifying sound waves. For a typical ﬁsh having such an anatomy,

the bladder has a resonant frequency of 300 Hz, the bladder’s Q is 3,

and the maximum ampliﬁcation is about a factor of 100 in energy.

Over what range of frequencies would the ampliﬁcation be at least

a factor of 50?

Problems 217

41 An oscillator with suﬃciently strong damping has its maxi-

mum response at ω = 0. Using the result derived on page 848, ﬁnd

the value of Q at which this behavior sets in.

> Hint, p. 857 > Answer, p. 867

42 An oscillator has Q=6.00, and, for convenience, let’s assume

1

m

= 1.00, ω

o

= 1.00, and : = 1.00. The usual approximations

would give

ω

res

= ω

o

,

¹

res

= 6.00 , and

∆ω = 1´6.00 .

Determine these three quantities numerically using the result de-

rived on page 848, and compare with the approximations.

43 The apparatus in ﬁgure d on page 59 had a natural period

of oscillation of 5 hours and 20 minutes. The authors estimated,

based on calculations of internal friction in the tungsten wire, that

its Q was on the order of 10

6

, but they were unable to measure it

empirically because it would have taken years for the amplitude to

die down by any measurable amount. Although each aluminum or

platinum mass was really moving along an arc of a circle, any actual

oscillations caused by a violation of the equivalence of gravitational

and inertial mass would have been measured in millions of a degree,

so it’s a good approximation to say that each mass’s motion was

along a (very short!) straight line segment. We can also treat each

mass as if it was oscillating separately from the others. If the prin-

ciple of equivalence had been violated at the 10

−12

level, the limit of

their experiment’s sensitivity, the sun’s gravitational force on one of

the 0.4-gram masses would have been about 310

−19

N, oscillating

with a period of 24 hours due to the rotation of the earth. (We ig-

nore the inertia of the arms, whose total mass was only about 25%

of the total mass of the rotating assembly.)

(a) Find the amplitude of the resulting oscillations, and determine

the angle to which they would have corresponded, given that the

radius of the balance arms was 10 cm. > Answer, p. 867

(b) Show that even if their estimate of Q was wildly wrong, it

wouldn’t have aﬀected this result.

218 Chapter 3 Conservation of Momentum

Problem 45

44 A ﬁrework shoots up into the air, and just before it explodes

it has a certain momentum and kinetic energy. What can you say

about the momenta and kinetic energies of the pieces immediately

after the explosion? [Based on a problem from PSSC Physics.]

> Solution, p. 871

45 The ﬁgure shows a view from above of a collision about

to happen between two air hockey pucks sliding without friction.

They have the same speed, ·

i

, before the collision, but the big puck

is 2.3 times more massive than the small one. Their sides have

sticky stuﬀ on them, so when they collide, they will stick together.

At what angle will they emerge from the collision? In addition to

giving a numerical answer, please indicate by drawing on the ﬁgure

how your angle is deﬁned. > Solution, p. 871

46 A learjet traveling due east at 300 mi/hr collides with a

jumbo jet which was heading southwest at 150 mi/hr. The jumbo

jet’s mass is ﬁve times greater than that of the learjet. When they

collide, the learjet sticks into the fuselage of the jumbo jet, and they

fall to earth together. Their engines stop functioning immediately

after the collision. On a map, what will be the direction from the

location of the collision to the place where the wreckage hits the

ground? (Give an angle.)

√

47 (a) A ball is thrown straight up with velocity ·. Find an

equation for the height to which it rises.

√

(b) Generalize your equation for a ball thrown at an angle θ above

horizontal.

√

48 At the Salinas Lettuce Festival Parade, Miss Lettuce of 1996

drops her bouquet while riding on a ﬂoat. Compare the shape of its

trajectory as seen by her to the shape seen by one of her admirers

standing on the sidewalk.

49 Two daredevils, Wendy and Bill, go over Niagara Falls.

Wendy sits in an inner tube, and lets the 30 km/hr velocity of the

river throw her out horizontally over the falls. Bill paddles a kayak,

adding an extra 10 km/hr to his velocity. They go over the edge

of the falls at the same moment, side by side. Ignore air friction.

Explain your reasoning.

(a) Who hits the bottom ﬁrst?

(b) What is the horizontal component of Wendy’s velocity on im-

pact?

(c) What is the horizontal component of Bill’s velocity on impact?

(d) Who is going faster on impact?

Problems 219

50 A baseball pitcher throws a pitch clocked at ·

x

=73.3 mi/h.

He throws horizontally. By what amount, d, does the ball drop by

the time it reaches home plate, 1=60.0 ft away?

(a) First ﬁnd a symbolic answer in terms of 1, ·

x

, and o.

(b) Plug in and ﬁnd a numerical answer. Express your answer in

units of ft. (Note: 1 ft=12 in, 1 mi=5280 ft, and 1 in=2.54 cm)

√

Problem 50.

51 A batter hits a baseball at speed ·, at an angle θ above

horizontal.

(a) Find an equation for the range (horizontal distance to where

the ball falls), 1, in terms of the relevant variables. Neglect air

friction and the height of the ball above the ground when it is hit.

> Answer, p. 867

(b) Interpret your equation in the cases of θ=0 and θ = 90

◦

.

(c) Find the angle that gives the maximum range.

> Answer, p. 867

52 In this problem you’ll extend the analysis in problem 51 to

include air friction by writing a computer program. For a game

played at sea level, the force due to air friction is approximately

(710

−4

Ns

2

´m

2

)·

2

, in the direction opposite to the motion of the

ball.

19

The mass of a baseball is 0.146 kg.

(a) For a ball hit at a speed of 45.0 m/s from a height of 1.0 m, ﬁnd

the optimal angle and the resulting range. > Answer, p. 867

(b) How much farther would the ball ﬂy at the Colorado Rockies’

stadium, where the thinner air gives 18 percent less air friction?

> Answer, p. 867

53 If you walk 35 km at an angle 25

◦

counterclockwise from

east, and then 22 km at 230

◦

counterclockwise from east, ﬁnd the

distance and direction from your starting point to your destination.

√

19

A standard baseball is supposed to have a circumference of 9

1

8

inches. A

standard way of paramerizing the force of ﬂuid friction is F = (1/2)ρACDv

2

,

where ρ is the density of the ﬂuid, A is the object’s cross-sectional area, and

CD is a unitless constant. E. Meyer and J. Bohn, in a 2008 paper published at

arxiv.org, survey existing data on CD for baseballs and estimate it to be in the

range from about 0.13 to 0.5. This leads to a ﬁgure something like the one given.

220 Chapter 3 Conservation of Momentum

Problem 59

Problem 54.

54 The ﬁgure shows vectors A and B. Graphically calculate the

following:

A+B, A−B, B−A, −2B, A−2B

No numbers are involved.

55 Phnom Penh is 470 km east and 250 km south of Bangkok.

Hanoi is 60 km east and 1030 km north of Phnom Penh.

(a) Choose a coordinate system, and translate these data into ∆r

and ∆n values with the proper plus and minus signs.

(b) Find the components of the ∆r vector pointing from Bangkok

to Hanoi.

√

56 Is it possible for a helicopter to have an acceleration due east

and a velocity due west? If so, what would be going on? If not, why

not?

Problem 57.

57 A dinosaur fossil is slowly moving down the slope of a glacier

under the inﬂuence of wind, rain and gravity. At the same time,

the glacier is moving relative to the continent underneath. The

dashed lines represent the directions but not the magnitudes of the

velocities. Pick a scale, and use graphical addition of vectors to ﬁnd

the magnitude and the direction of the fossil’s velocity relative to

the continent. You will need a ruler and protractor.

√

58 A bird is initially ﬂying horizontally east at 21.1 m/s, but one

second later it has changed direction so that it is ﬂying horizontally

and 7

◦

north of east, at the same speed. What are the magnitude

and direction of its acceleration vector during that one second time

interval? (Assume its acceleration was roughly constant.)

√

59 Your hand presses a block of mass : against a wall with

a force F

H

acting at an angle θ, as shown in the ﬁgure. Find the

minimum and maximum possible values of [F

H

[ that can keep the

block stationary, in terms of :, o, θ, and j

s

, the coeﬃcient of static

friction between the block and the wall.

√

Problems 221

Problem 63

Problem 64

60 A skier of mass m is coasting down a slope inclined at

an angle θ compared to horizontal. Assume for simplicity that the

standard treatment of kinetic friction given in the text is appropri-

ate here, although a soft and wet surface actually behaves a little

diﬀerently. The coeﬃcient of kinetic friction acting between the skis

and the snow is j

k

, and in addition the skier experiences an air

friction force of magnitude /·

2

, where / is a constant. (a) Find the

maximum speed that the skier will attain, in terms of the variables

:, θ, j

k

, and /.

√

(b) For angles below a certain minimum angle θ

min

, the equation

gives a result that is not mathematically meaningful. Find an equa-

tion for θ

min

, and give a physical explanation of what is happening

for θ < θ

min

.

61 A gun is aimed horizontally to the west, and ﬁred at t = 0.

The bullet’s position vector as a function of time is r = /ˆ x + ctˆ y +

dt

2

ˆ z, where /, c, and d are positive constants.

(a) What units would /, c, and d need to have for the equation to

make sense?

(b) Find the bullet’s velocity and acceleration as functions of time.

(c) Give physical interpretations of /, c, d, ˆ x, ˆ y, and ˆ z.

62 Annie Oakley, riding north on horseback at 30 mi/hr, shoots

her riﬂe, aiming horizontally and to the northeast. The muzzle speed

of the riﬂe is 140 mi/hr. When the bullet hits a defenseless fuzzy

animal, what is its speed of impact? Neglect air resistance, and

ignore the vertical motion of the bullet. > Solution, p. 871

63 A cargo plane has taken oﬀ from a tiny airstrip in the Andes,

and is climbing at constant speed, at an angle of θ = 17

◦

with re-

spect to horizontal. Its engines supply a thrust of 1

thrust

= 200 kN,

and the lift from its wings is 1

lift

= 654 kN. Assume that air resis-

tance (drag) is negligible, so the only forces acting are thrust, lift,

and weight. What is its mass, in kg? > Solution, p. 872

64 A wagon is being pulled at constant speed up a slope θ

by a rope that makes an angle φ with the vertical. (a) Assuming

negligible friction, show that the tension in the rope is given by the

equation

T =

sin θ

sin(θ + φ)

:o,

(b) Interpret this equation in the special cases of φ = 0 and φ =

180

◦

−θ. > Solution, p. 872

222 Chapter 3 Conservation of Momentum

65 The angle of repose is the maximum slope on which an object

will not slide. On airless, geologically inert bodies like the moon or

an asteroid, the only thing that determines whether dust or rubble

will stay on a slope is whether the slope is less steep than the angle

of repose.

(a) Find an equation for the angle of repose, deciding for yourself

what are the relevant variables.

(b) On an asteroid, where o can be thousands of times lower than

on Earth, would rubble be able to lie at a steeper angle of repose?

> Solution, p. 873

66 When you’re done using an electric mixer, you can get most

of the batter oﬀ of the beaters by lifting them out of the batter with

the motor running at a high enough speed. Let’s imagine, to make

things easier to visualize, that we instead have a piece of tape stuck

to one of the beaters.

(a) Explain why static friction has no eﬀect on whether or not the

tape ﬂies oﬀ.

(b) Suppose you ﬁnd that the tape doesn’t ﬂy oﬀ when the motor

is on a low speed, but speeding it up does cause it to ﬂy oﬀ. Why

would the greater speed change things?

67 Show that the expression [v[

2

´r has the units of acceleration.

68 A plane is ﬂown in a loop-the-loop of radius 1.00 km. The

plane starts out ﬂying upside-down, straight and level, then begins

curving up along the circular loop, and is right-side up when it

reaches the top. (The plane may slow down somewhat on the way

up.) How fast must the plane be going at the top if the pilot is to

experience no force from the seat or the seatbelt while at the top of

the loop?

√

69 Find the angle between the following two vectors:

ˆ x + 2ˆ y + 3ˆ z

4ˆ x + 5ˆ y + 6ˆ z

> Hint, p. 857

√

Problems 223

Problem 70.

Problem 71.

70 The two blocks shown in the ﬁgure have equal mass, :, and

the surface is frictionless. (a) What is the tension in the massless

rope? > Hint, p. 857

√

(b) Show that the units of your answer make sense.

(c) Check the physical behavior of your answer in the special cases

of φ ≤ θ and θ = 0, φ = 90

◦

.

71 The ﬁgure is from Shape memory in Spider draglines, Emile,

Le Floch, and Vollrath, Nature 440:621 (2006). Panel 1 shows an

electron microscope’s image of a thread of spider silk. In 2, a spi-

der is hanging from such a thread. From an evolutionary point of

view, it’s probably a bad thing for the spider if it twists back and

forth while hanging like this. (We’re referring to a back-and-forth

rotation about the axis of the thread, not a swinging motion like a

pendulum.) The authors speculate that such a vibration could make

the spider easier for predators to see, and it also seems to me that

it would be a bad thing just because the spider wouldn’t be able

to control its orientation and do what it was trying to do. Panel 3

shows a graph of such an oscillation, which the authors measured

using a video camera and a computer, with a 0.1 g mass hung from it

in place of a spider. Compared to human-made ﬁbers such as kevlar

or copper wire, the spider thread has an unusual set of properties:

1. It has a low Q, so the vibrations damp out quickly.

2. It doesn’t become brittle with repeated twisting as a copper

wire would.

3. When twisted, it tends to settle in to a new equilibrium angle,

rather than insisting on returning to its original angle. You

can see this in panel 2, because although the experimenters

initially twisted the wire by 35 degrees, the thread only per-

formed oscillations with an amplitude much smaller than ±35

degrees, settling down to a new equilibrium at 27 degrees.

4. Over much longer time scales (hours), the thread eventually

resets itself to its original equilbrium angle (shown as zero

degrees on the graph). (The graph reproduced here only shows

the motion over a much shorter time scale.) Some human-

made materials have this “memory” property as well, but they

typically need to be heated in order to make them go back to

their original shapes.

Focusing on property number 1, estimate the Q of spider silk from

the graph.

224 Chapter 3 Conservation of Momentum

72 A cross-country skier is gliding on a level trail, with negligi-

ble friction. Then, when he is at position r = 0, the tip of his skis

enters a patch of dirt. As he rides onto the dirt, more and more of

his weight is being supported by the dirt. The skis have length /,

so if he reached r = / without stopping, his weight would be com-

pletely on the dirt. This problem deals with the motion for r < /.

(a) Find the acceleration in terms of r, as well as any other relevant

constants.

(b) This is a second-order diﬀerential equation. You should be able

to ﬁnd the solution simply by thinking about some commonly oc-

curing functions that you know about, and ﬁnding two that have

the right properties. If these functions are r = 1(t) and r = o(t),

then the most general solution to the equations of motion will be of

the form r = o1 +/o, where o and / are constants to be determined

from the initial conditions.

(c) Suppose that the initial velocity ·

o

at r = 0 is such that he stops

at r < /. Find the time until he stops, and show that, counterintu-

itively, this time is independent of ·

o

. Explain physically why this

is true.

73 A microwave oven works by twisting molecules one way and

then the other, counterclockwise and then clockwise about their own

centers, millions of times a second. If you put an ice cube or a stick

of butter in a microwave, you’ll observe that the oven doesn’t heat

the solid very quickly, although eventually melting begins in one

small spot. Once a melted spot forms, it grows rapidly, while the

rest of the solid remains solid. In other words, it appears based on

this experiment that a microwave oven heats a liquid much more

rapidly than a solid. Explain why this should happen, based on the

atomic-level description of heat, solids, and liquids. (See, e.g., ﬁgure

b on page 108.)

Please don’t repeat the following common mistakes in your ex-

planation:

In a solid, the atoms are packed more tightly and have less

space between them. Not true. Ice ﬂoats because it’s less

dense than water.

In a liquid, the atoms are moving much faster. No, the diﬀer-

ence in average speed between ice at −1

◦

C and water at 1

◦

C

is only 0.4%.

74 Problem 2-16 on page 118 was intended to be solved using

conservation of energy. Solve the same problem using Newton’s

laws.

Problems 225

75 A bead slides down along a piece of wire that is in the shape

of a helix. The helix lies on the surface of a vertical cylinder of

radius :, and the vertical distance between turns is d.

(a) Ordinarily when an object slides downhill under the inﬂuence of

kinetic friction, the velocity-independence of kinetic friction implies

that the acceleration is constant, and therefore there is no limit to

the object’s velocity. Explain the physical reason why this argument

fails here, so that the bead will in fact have some limiting velocity.

(b) Find the limiting velocity.

(c) Show that your result has the correct behavior in the limit of

: →∞.

76 A person on a bicycle is to coast down a ramp of height / and

then pass through a circular loop of radius :. What is the small-

est value of / for which the cyclist will complete the loop without

falling? (Ignore the kinetic energy of the spinning wheels.)

√

Key to symbols:

easy typical challenging diﬃcult very diﬃcult

√

An answer check is available at www.lightandmatter.com.

226 Chapter 3 Conservation of Momentum

Exercises

Exercise 3A: Force and Motion

Equipment:

2-meter pieces of butcher paper

wood blocks with hooks

string

masses to put on top of the blocks to increase friction

spring scales (preferably calibrated in Newtons)

Suppose a person pushes a crate, sliding it across the ﬂoor at a certain speed, and then repeats

the same thing but at a higher speed. This is essentially the situation you will act out in this

exercise. What do you think is diﬀerent about her force on the crate in the two situations?

Discuss this with your group and write down your hypothesis:

1. First you will measure the amount of friction between the wood block and the butcher paper

when the wood and paper surfaces are slipping over each other. The idea is to attach a spring

scale to the block and then slide the butcher paper under the block while using the scale to

keep the block from moving with it. Depending on the amount of force your spring scale was

designed to measure, you may need to put an extra mass on top of the block in order to increase

the amount of friction. It is a good idea to use long piece of string to attach the block to the

spring scale, since otherwise one tends to pull at an angle instead of directly horizontally.

First measure the amount of friction force when sliding the butcher paper as slowly as possi-

ble:

Now measure the amount of friction force at a signiﬁcantly higher speed, say 1 meter per second.

(If you try to go too fast, the motion is jerky, and it is impossible to get an accurate reading.)

Discuss your results. Why are we justiﬁed in assuming that the string’s force on the block (i.e.,

the scale reading) is the same amount as the paper’s frictional force on the block?

2. Now try the same thing but with the block moving and the paper standing still. Try two

diﬀerent speeds.

Do your results agree with your original hypothesis? If not, discuss what’s going on. How does

the block “know” how fast to go?

Exercises 227

Exercise 3B: Vibrations

Equipment:

• air track and carts of two diﬀerent masses

• springs

• spring scales

Place the cart on the air track and attach springs so that it can vibrate.

1. Test whether the period of vibration depends on amplitude. Try at least two moderate

amplitudes, for which the springs do not go slack, and at least one amplitude that is large

enough so that they do go slack.

2. Try a cart with a diﬀerent mass. Does the period change by the expected factor, based on

the equation T = 2π

:´/?

3. Use a spring scale to pull the cart away from equilibrium, and make a graph of force versus

position. Is it linear? If so, what is its slope?

4. Test the equation T = 2π

:´/ numerically.

228 Chapter 3 Conservation of Momentum

Exercise 3C: Worksheet on Resonance

1. Compare the oscillator’s energies at A, B, C, and D.

2. Compare the Q values of the two oscillators.

3. Match the x-t graphs in #2 with the amplitude-frequency graphs below.

Exercises 229

Exercise D is on the following two pages.

230 Chapter 3 Conservation of Momentum

Exercise 3D: Vectors and Motion

Each diagram on page 232 shows the motion of an object in an r − n plane. Each dot is one

location of the object at one moment in time. The time interval from one dot to the next is

always the same, so you can think of the vector that connects one dot to the next as a v vector,

and subtract to ﬁnd ∆v vectors.

1. Suppose the object in diagram 1 is moving from the top left to the bottom right. Deduce

whatever you can about the force acting on it. Does the force always have the same magnitude?

The same direction?

Invent a physical situation that this diagram could represent.

What if you reinterpret the diagram, and reverse the object’s direction of motion?

2. What can you deduce about the force that is acting in diagram 2?

Invent a physical situation that diagram 2 could represent.

3. What can you deduce about the force that is acting in diagram 3?

Invent a physical situation.

Exercises 231

232 Chapter 3 Conservation of Momentum

Chapter 4

Conservation of Angular Mo-

mentum

4.1 Angular Momentum in Two Dimensions

4.1.1 Angular momentum

“Sure, and maybe the sun won’t come up tomorrow.” Of course,

the sun only appears to go up and down because the earth spins,

so the cliche should really refer to the unlikelihood of the earth’s

stopping its rotation abruptly during the night. Why can’t it stop?

It wouldn’t violate conservation of momentum, because the earth’s

rotation doesn’t add anything to its momentum. While California

spins in one direction, some equally massive part of India goes the

opposite way, canceling its momentum. A halt to Earth’s rotation

would entail a drop in kinetic energy, but that energy could simply

be converted into some other form, such as heat.

a / The jumper can’t move his

legs counterclockwise without

moving his arms clockwise.

(Thomas Eakins.)

Other examples along these lines are not hard to ﬁnd. An atom

spins at the same rate for billions of years. A high-diver who is

rotating when he comes oﬀ the board does not need to make any

physical eﬀort to continue rotating, and indeed would be unable to

stop rotating before he hit the water.

These observations have the hallmarks of a conservation law:

A closed system is involved. Nothing is making an eﬀort to twist

the earth, the hydrogen atom, or the high-diver. They are isolated

from rotation-changing inﬂuences, i.e., they are closed systems.

Something remains unchanged. There appears to be a numerical

quantity for measuring rotational motion such that the total amount

of that quantity remains constant in a closed system.

233

b / An overhead view of a

piece of putty being thrown at

a door. Even though the putty

is neither spinning nor traveling

along a curve, we must deﬁne it

has having some kind of “rota-

tion” because it is able to make

the door rotate.

Something can be transferred back and forth without changing

the total amount. In the photo of the old-fashioned high jump, a,

the jumper wants to get his feet out in front of him so he can keep

from doing a “face plant” when he lands. Bringing his feet forward

would involve a certain quantity of counterclockwise rotation, but he

didn’t start out with any rotation when he left the ground. Suppose

we consider counterclockwise as positive and clockwise as negative.

The only way his legs can acquire some positive rotation is if some

other part of his body picks up an equal amount of negative rotation.

This is why he swings his arms up behind him, clockwise.

What numerical measure of rotational motion is conserved? Car

engines and old-fashioned LP records have speeds of rotation mea-

sured in rotations per minute (r.p.m.), but the number of rota-

tions per minute (or per second) is not a conserved quantity. A

twirling ﬁgure skater, for instance, can pull her arms in to increase

her r.p.m.’s. The ﬁrst section of this chapter deals with the nu-

merical deﬁnition of the quantity of rotation that results in a valid

conservation law.

When most people think of rotation, they think of a solid object

like a wheel rotating in a circle around a ﬁxed point. Examples of

this type of rotation, called rigid rotation or rigid-body rotation, in-

clude a spinning top, a seated child’s swinging leg, and a helicopter’s

spinning propeller. Rotation, however, is a much more general phe-

nomenon, and includes noncircular examples such as a comet in

an elliptical orbit around the sun, or a cyclone, in which the core

completes a circle more quickly than the outer parts.

If there is a numerical measure of rotational motion that is a

conserved quantity, then it must include nonrigid cases like these,

since nonrigid rotation can be traded back and forth with rigid ro-

tation. For instance, there is a trick for ﬁnding out if an egg is

raw or hardboiled. If you spin a hardboiled egg and then stop it

brieﬂy with your ﬁnger, it stops dead. But if you do the same with

a raw egg, it springs back into rotation because the soft interior was

still swirling around within the momentarily motionless shell. The

pattern of ﬂow of the liquid part is presumably very complex and

nonuniform due to the asymmetric shape of the egg and the diﬀer-

ent consistencies of the yolk and the white, but there is apparently

some way to describe the liquid’s total amount of rotation with a

single number, of which some percentage is given back to the shell

when you release it.

The best strategy is to devise a way of deﬁning the amount of

rotation of a single small part of a system. The amount of rotation

of a system such as a cyclone will then be deﬁned as the total of all

the contributions from its many small parts.

The quest for a conserved quantity of rotation even requires us

to broaden the rotation concept to include cases where the motion

234 Chapter 4 Conservation of Angular Momentum

c / As seen by someone standing

at the axis, the putty changes

its angular position. We there-

fore deﬁne it as having angular

momentum.

d / A putty blob thrown di-

rectly at the axis has no angular

motion, and therefore no angular

momentum. It will not cause the

door to rotate.

doesn’t repeat or even curve around. If you throw a piece of putty

at a door, b, the door will recoil and start rotating. The putty was

traveling straight, not in a circle, but if there is to be a general

conservation law that can cover this situation, it appears that we

must describe the putty as having had some “rotation,” which it

then gave up to the door. The best way of thinking about it is to

attribute rotation to any moving object or part of an object that

changes its angle in relation to the axis of rotation. In the putty-

and-door example, the hinge of the door is the natural point to think

of as an axis, and the putty changes its angle as seen by someone

standing at the hinge, c. For this reason, the conserved quantity

we are investigating is called angular momentum. The symbol for

angular momentum can’t be “a” or “m,” since those are used for

acceleration and mass, so the letter 1 is arbitrarily chosen instead.

Imagine a 1 kg blob of putty, thrown at the door at a speed of

1 m/s, which hits the door at a distance of 1 m from the hinge.

We deﬁne this blob to have 1 unit of angular momentum. When

it hits the door, the door will recoil and start rotating. We can

use the speed at which the door recoils as a measure of the angular

momentum the blob brought in.

1

Experiments show, not surprisingly, that a 2 kg blob thrown in

the same way makes the door rotate twice as fast, so the angular

momentum of the putty blob must be proportional to mass,

1 ∝ : .

Similarly, experiments show that doubling the velocity of the

blob will have a doubling eﬀect on the result, so its angular momen-

tum must be proportional to its velocity as well,

1 ∝ :· .

You have undoubtedly had the experience of approaching a closed

door with one of those bar-shaped handles on it and pushing on the

wrong side, the side close to the hinges. You feel like an idiot, be-

cause you have so little leverage that you can hardly budge the door.

The same would be true with the putty blob. Experiments would

show that the amount of rotation the blob can give to the door is

proportional to the distance, :, from the axis of rotation, so angular

momentum must be proportional to : as well,

1 ∝ :·: .

We are almost done, but there is one missing ingredient. We

know on grounds of symmetry that a putty ball thrown directly

1

We assume that the door is much more massive than the blob. Under this

assumption, the speed at which the door recoils is much less than the original

speed of the blob, so the blob has lost essentially all its angular momentum, and

given it to the door.

Section 4.1 Angular Momentum in Two Dimensions 235

f / A ﬁgure skater pulls in her

arms so that she can execute a

spin more rapidly.

e / Only the component of

the velocity vector perpendicular

to the line connecting the object

to the axis should be counted

into the deﬁnition of angular

momentum.

inward toward the hinge will have no angular momentum to give

to the door. After all, there would not even be any way to de-

cide whether the ball’s rotation was clockwise or counterclockwise

in this situation. It is therefore only the component of the blob’s

velocity vector perpendicular to the door that should be counted in

its angular momentum,

1 = :·

⊥

: .

More generally, ·

⊥

should be thought of as the component of the

object’s velocity vector that is perpendicular to the line joining the

object to the axis of rotation.

We ﬁnd that this equation agrees with the deﬁnition of the orig-

inal putty blob as having one unit of angular momentum, and we

can now see that the units of angular momentum are (kgm´s)m,

i.e., kgm

2

´s. Summarizing, we have

1 = :·

⊥

: [angular momentum of a particle in two dimensions] ,

where : is the particle’s mass, ·

⊥

is the component of its velocity

vector perpendicular to the line joining it to the axis of rotation,

and : is its distance from the axis. (Note that : is not necessarily

the radius of a circle.) Positive and negative signs of angular mo-

mentum are used to describe opposite directions of rotation. The

angular momentum of a ﬁnite-sized object or a system of many ob-

jects is found by dividing it up into many small parts, applying the

equation to each part, and adding to ﬁnd the total amount of an-

gular momentum. (As implied by the word “particle,” matter isn’t

the only thing that can have angular momentum. Light can also

have angular momentum, and the above equation would not apply

to light.)

Conservation of angular momentum has been veriﬁed over and

over again by experiment, and is now believed to be one of the most

fundamental principles of physics, along with conservation of mass,

energy, and momentum.

A ﬁgure skater pulls her arms in. example 1

When a ﬁgure skater is twirling, there is very little friction between

her and the ice, so she is essentially a closed system, and her

angular momentum is conserved. If she pulls her arms in, she is

decreasing r for all the atoms in her arms. It would violate con-

servation of angular momentum if she then continued rotating at

the same speed, i.e., taking the same amount of time for each

revolution, because her arms’ contributions to her angular mo-

mentum would have decreased, and no other part of her would

have increased its angular momentum. This is impossible be-

cause it would violate conservation of angular momentum. If her

total angular momentum is to remain constant, the decrease in r

for her arms must be compensated for by an overall increase in

her rate of rotation. That is, by pulling her arms in, she substan-

tially reduces the time for each rotation.

236 Chapter 4 Conservation of Angular Momentum

g / A view of the earth-moon

system from above the north

pole. All distances have been

highly distorted for legibility.

Earth’s slowing rotation and the receding moon example 2

The earth’s rotation is actually slowing down very gradually, with

the kinetic energy being dissipated as heat by friction between the

land and the tidal bulges raised in the seas by the earth’s gravity.

Does this mean that angular momentum is not really perfectly

conserved? No, it just means that the earth is not quite a closed

system by itself. If we consider the earth and moon as a system,

then the angular momentum lost by the earth must be gained by

the moon somehow. In fact very precise measurements of the

distance between the earth and the moon have been carried out

by bouncing laser beams off of a mirror left there by astronauts,

and these measurements show that the moon is receding from

the earth at a rate of 4 centimeters per year! The moon’s greater

value of r means that it has a greater angular momentum, and

the increase turns out to be exactly the amount lost by the earth.

In the days of the dinosaurs, the days were signiﬁcantly shorter,

and the moon was closer and appeared bigger in the sky.

But what force is causing the moon to speed up, drawing it out

into a larger orbit? It is the gravitational forces of the earth’s tidal

bulges. In ﬁgure g, the earth’s rotation is counterclockwise (ar-

row). The moon’s gravity creates a bulge on the side near it, be-

cause its gravitational pull is stronger there, and an “anti-bulge”

on the far side, since its gravity there is weaker. For simplicity, let’s

focus on the tidal bulge closer to the moon. Its frictional force is

trying to slow down the earth’s rotation, so its force on the earth’s

solid crust is toward the bottom of the ﬁgure. By Newton’s third

law, the crust must thus make a force on the bulge which is to-

ward the top of the ﬁgure. This causes the bulge to be pulled

forward at a slight angle, and the bulge’s gravity therefore pulls

the moon forward, accelerating its orbital motion about the earth

and ﬂinging it outward.

The result would obviously be extremely difﬁcult to calculate di-

rectly, and this is one of those situations where a conservation

law allows us to make precise quantitative statements about the

outcome of a process when the calculation of the process itself

would be prohibitively complex.

Restriction to rotation in a plane

Is angular momentum a vector, or a scalar? It does have a di-

rection in space, but it’s a direction of rotation, not a straight-line

direction like the directions of vectors such as velocity or force. It

turns out that there is a way of deﬁning angular momentum as a

vector, but in this section the examples will be conﬁned to a single

plane of rotation, i.e., eﬀectively two-dimensional situations. In this

special case, we can choose to visualize the plane of rotation from

one side or the other, and to deﬁne clockwise and counterclockwise

rotation as having opposite signs of angular momentum. “Eﬀec-

Section 4.1 Angular Momentum in Two Dimensions 237

h / The area swept out by a

planet in its orbit.

tively” two-dimensional means that we can deal with objects that

aren’t ﬂat, as long as the velocity vectors of all their parts lie in a

plane.

Discussion Questions

A Conservation of plain old momentum, p, can be thought of as the

greatly expanded and modiﬁed descendant of Galileo’s original principle

of inertia, that no force is required to keep an object in motion. The princi-

ple of inertia is counterintuitive, and there are many situations in which it

appears superﬁcially that a force is needed to maintain motion, as main-

tained by Aristotle. Think of a situation in which conservation of angular

momentum, L, also seems to be violated, making it seem incorrectly that

something external must act on a closed system to keep its angular mo-

mentum from “running down.”

4.1.2 Application to planetary motion

We now discuss the application of conservation of angular mo-

mentum to planetary motion, both because of its intrinsic impor-

tance and because it is a good way to develop a visual intuition for

angular momentum.

Kepler’s law of equal areas states that the area swept out by

a planet in a certain length of time is always the same. Angular

momentum had not been invented in Kepler’s time, and he did not

even know the most basic physical facts about the forces at work. He

thought of this law as an entirely empirical and unexpectedly simple

way of summarizing his data, a rule that succeeded in describing

and predicting how the planets sped up and slowed down in their

elliptical paths. It is now fairly simple, however, to show that the

equal area law amounts to a statement that the planet’s angular

momentum stays constant.

There is no simple geometrical rule for the area of a pie wedge

cut out of an ellipse, but if we consider a very short time interval,

as shown in ﬁgure h, the shaded shape swept out by the planet is

very nearly a triangle. We do know how to compute the area of a

triangle. It is one half the product of the base and the height:

area =

1

2

// .

We wish to relate this to angular momentum, which contains the

variables : and ·

⊥

. If we consider the sun to be the axis of rotation,

then the variable : is identical to the base of the triangle, : = /.

Referring to the magniﬁed portion of the ﬁgure, ·

⊥

can be related

to /, because the two right triangles are similar:

/

distance traveled

=

·

⊥

[v[

The area can thus be rewritten as

area =

1

2

:

·

⊥

(distance traveled)

[v[

.

238 Chapter 4 Conservation of Angular Momentum

i / Discussion question B.

The distance traveled equals [v[∆t, so this simpliﬁes to

area =

1

2

:·

⊥

∆t .

We have found the following relationship between angular momen-

tum and the rate at which area is swept out:

1 = 2:

area

∆t

.

The factor of 2 in front is simply a matter of convention, since any

conserved quantity would be an equally valid conserved quantity if

you multiplied it by a constant. The factor of : was not relevant

to Kepler, who did not know the planets’ masses, and who was only

describing the motion of one planet at a time.

We thus ﬁnd that Kepler’s equal-area law is equivalent to a state-

ment that the planet’s angular momentum remains constant. But

wait, why should it remain constant? — the planet is not a closed

system, since it is being acted on by the sun’s gravitational force.

There are two valid answers. The ﬁrst is that it is actually the to-

tal angular momentum of the sun plus the planet that is conserved.

The sun, however, is millions of times more massive than the typical

planet, so it accelerates very little in response to the planet’s gravi-

tational force. It is thus a good approximation to say that the sun

doesn’t move at all, so that no angular momentum is transferred

between it and the planet.

The second answer is that to change the planet’s angular mo-

mentum requires not just a force but a force applied in a certain

way. Later in this section (starting on page 242) we discuss the

transfer of angular momentum by a force, but the basic idea here is

that a force directly in toward the axis does not change the angular

momentum.

Discussion Questions

A Suppose an object is simply traveling in a straight line at constant

speed. If we pick some point not on the line and call it the axis of rotation,

is area swept out by the object at a constant rate?

B The ﬁgure is a strobe photo of a pendulum bob, taken from under-

neath the pendulum looking straight up. The black string can’t be seen in

the photograph. The bob was given a slight sideways push when it was

released, so it did not swing in a plane. The bright spot marks the center,

i.e., the position the bob would have if it hung straight down at us. Does

the bob’s angular momentum appear to remain constant if we consider

the center to be the axis of rotation?

4.1.3 Two theorems about angular momentum

With plain old momentum, p, we had the freedom to work in

any inertial frame of reference we liked. The same object could

have diﬀerent values of momentum in two diﬀerent frames, if the

frames were not at rest with respect to each other. Conservation

Section 4.1 Angular Momentum in Two Dimensions 239

j / Two asteroids collide.

k / Everyone has a strong

tendency to think of the diver as

rotating about his own center of

mass. However, he is ﬂying in an

arc, and he also has angular mo-

mentum because of this motion.

l / This rigid object has angu-

lar momentum both because it is

spinning about its center of mass

and because it is moving through

space.

of momentum, however, would be true in either frame. As long as

we employed a single frame consistently throughout a calculation,

everything would work.

The same is true for angular momentum, and in addition there

is an ambiguity that arises from the deﬁnition of an axis of rotation.

For a wheel, the natural choice of an axis of rotation is obviously the

axle, but what about an egg rotating on its side? The egg has an

asymmetric shape, and thus no clearly deﬁned geometric center. A

similar issue arises for a cyclone, which does not even have a sharply

deﬁned shape, or for a complicated machine with many gears. The

following theorem, the ﬁrst of two presented in this section, explains

how to deal with this issue. Although I have put descriptive titles

above both theorems, they have no generally accepted names. The

proofs, given on page 849, use the vector cross-product technique

introduced in section 4.3, which greatly simpliﬁes them.

The choice of axis theorem: It is entirely arbitrary what point

one deﬁnes as the axis for purposes of calculating angular momen-

tum. If a closed system’s angular momentum is conserved when

calculated with one choice of axis, then it will be conserved for any

other choice of axis. Likewise, any inertial frame of reference may

be used.

Colliding asteroids described with different axes example 3

Observers on planets A and B both see the two asteroids collid-

ing. The asteroids are of equal mass and their impact speeds are

the same. Astronomers on each planet decide to deﬁne their own

planet as the axis of rotation. Planet A is twice as far from the col-

lision as planet B. The asteroids collide and stick. For simplicity,

assume planets A and B are both at rest.

With planet A as the axis, the two asteroids have the same amount

of angular momentum, but one has positive angular momentum

and the other has negative. Before the collision, the total angular

momentum is therefore zero. After the collision, the two asteroids

will have stopped moving, and again the total angular momen-

tum is zero. The total angular momentum both before and after

the collision is zero, so angular momentum is conserved if you

choose planet A as the axis.

The only difference with planet B as axis is that r is smaller by a

factor of two, so all the angular momenta are halved. Even though

the angular momenta are different than the ones calculated by

planet A, angular momentum is still conserved.

The earth spins on its own axis once a day, but simultaneously

travels in its circular one-year orbit around the sun, so any given

part of it traces out a complicated loopy path. It would seem diﬃcult

to calculate the earth’s angular momentum, but it turns out that

there is an intuitively appealing shortcut: we can simply add up the

angular momentum due to its spin plus that arising from its center

240 Chapter 4 Conservation of Angular Momentum

of mass’s circular motion around the sun. This is a special case of

the following general theorem:

The spin theorem: An object’s angular momentum with respect

to some outside axis A can be found by adding up two parts:

(1) The ﬁrst part is the object’s angular momentum found by using

its own center of mass as the axis, i.e., the angular momentum the

object has because it is spinning.

(2) The other part equals the angular momentum that the object

would have with respect to the axis A if it had all its mass concen-

trated at and moving with its center of mass.

A system with its center of mass at rest example 4

In the special case of an object whose center of mass is at rest,

the spin theorem implies that the object’s angular momentum is

the same regardless of what axis we choose. (This is an even

stronger statement than the choice of axis theorem, which only

guarantees that angular momentum is conserved for any given

choice of axis, without specifying that it is the same for all such

choices.)

Angular momentum of a rigid object example 5

> A motorcycle wheel has almost all its mass concentrated at

the outside. If the wheel has mass m and radius r , and the time

required for one revolution is T, what is the spin part of its angular

momentum?

> This is an example of the commonly encountered special case

of rigid motion, as opposed to the rotation of a system like a hur-

ricane in which the different parts take different amounts of time

to go around. We don’t really have to go through a laborious

process of adding up contributions from all the many parts of a

wheel, because they are all at about the same distance from the

axis, and are all moving around the axis at about the same speed.

The velocity is all perpendicular to the spokes,

v

⊥

= (circumference)´T

= 2πr ´T

and the angular momentum of the wheel about its center is

L = mv

⊥

r

= m(2πr ´T)r

= 2πmr

2

´T .

Note that although the factors of 2π in this expression is peculiar

to a wheel with its mass concentrated on the rim, the proportional-

ity to :´T would have been the same for any other rigidly rotating

object. Although an object with a noncircular shape does not have

Section 4.1 Angular Momentum in Two Dimensions 241

m / The plane’s four engines

produce zero total torque but not

zero total force.

n / The simple physical situa-

tion we use to derive an equation

for torque. A force that points

directly in at or out away from the

axis produces neither clockwise

nor counterclockwise angular

momentum. A force in the per-

pendicular direction does transfer

angular momentum.

a radius, it is also true in general that angular momentum is pro-

portional to the square of the object’s size for ﬁxed values of : and

T. For instance doubling an object’s size doubles both the ·

⊥

and

: factors in the contribution of each of its parts to the total angular

momentum, resulting in an overall factor of four increase.

4.1.4 Torque

Force is the rate of transfer of momentum. The corresponding

quantity in the case of angular momentum is called torque (rhymes

with “fork”). Where force tells us how hard we are pushing or

pulling on something, torque indicates how hard we are twisting on

it. Torque is represented by the Greek letter tau, τ, and the rate

of change of an object’s angular momentum equals the total torque

acting on it,

τ

total

= d1´dt .

As with force and momentum, it often happens that angular

momentum recedes into the background and we focus our interest on

the torques. The torque-focused point of view is exempliﬁed by the

fact that many scientiﬁcally untrained but mechanically apt people

know all about torque, but none of them have heard of angular

momentum. Car enthusiasts eagerly compare engines’ torques, and

there is a tool called a torque wrench which allows one to apply a

desired amount of torque to a screw and avoid overtightening it.

Torque distinguished from force

Of course a force is necessary in order to create a torque — you

can’t twist a screw without pushing on the wrench — but force and

torque are two diﬀerent things. One distinction between them is

direction. We use positive and negative signs to represent forces in

the two possible directions along a line. The direction of a torque,

however, is clockwise or counterclockwise, not a linear direction.

The other diﬀerence between torque and force is a matter of

leverage. A given force applied at a door’s knob will change the

door’s angular momentum twice as rapidly as the same force applied

halfway between the knob and the hinge. The same amount of force

produces diﬀerent amounts of torque in these two cases.

It’s possible to have a zero total torque with a nonzero total

force. An airplane with four jet engines would be designed so that

their forces are balanced on the left and right. Their forces are all in

the same direction, but the clockwise torques of two of the engines

are canceled by the counterclockwise torques of the other two, giving

zero total torque.

Conversely we can have zero total force and nonzero total torque.

A merry-go-round’s engine needs to supply a nonzero torque on it

to bring it up to speed, but there is zero total force on it. If there

was not zero total force on it, its center of mass would accelerate!

242 Chapter 4 Conservation of Angular Momentum

o / The geometric relationships

referred to in the relationship

between force and torque.

Relationship between force and torque

How do we calculate the amount of torque produced by a given

force? Since it depends on leverage, we should expect it to depend

on the distance between the axis and the point of application of

the force. I’ll work out an equation relating torque to force for a

particular very simple situation, and give a more rigorous derivation

on page 272, after developing some mathematical techniques that

dramatically shorten and simplify the proof.

Consider a pointlike object which is initially at rest at a distance

: from the axis we have chosen for deﬁning angular momentum.

We ﬁrst observe that a force directly inward or outward, along the

line connecting the axis to the object, does not impart any angular

momentum to the object.

A force perpendicular to the line connecting the axis and the

object does, however, make the object pick up angular momentum.

Newton’s second law gives

o = 1´: ,

and using o = d·´dt we ﬁnd the velocity the object acquires after a

time dt,

d· = 1dt´: .

We’re trying to relate force to a change in angular momentum, so

we multiply both sides of the equation by :: to give

: d· : = 1 dt :

d1 = 1 dt : .

Dividing by dt gives the torque:

d1

dt

= 1:

τ = 1: .

If a force acts at an angle other than 0 or 90

◦

with respect to the

line joining the object and the axis, it would be only the component

of the force perpendicular to the line that would produce a torque,

τ = 1

⊥

: .

Although this result was proved under a simpliﬁed set of circum-

stances, it is more generally valid:

2

Relationship between force and torque: The rate at which

a force transfers angular momentum to an object, i.e., the torque

produced by the force, is given by

[τ[ = :[1

⊥

[ ,

2

A proof is given in example 28 on page 272

Section 4.1 Angular Momentum in Two Dimensions 243

where : is the distance from the axis to the point of application of

the force, and 1

⊥

is the component of the force that is perpendicular

to the line joining the axis to the point of application.

The equation is stated with absolute value signs because the

positive and negative signs of force and torque indicate diﬀerent

things, so there is no useful relationship between them. The sign

of the torque must be found by physical inspection of the case at

hand.

From the equation, we see that the units of torque can be writ-

ten as newtons multiplied by meters. Metric torque wrenches are

calibrated in Nm, but American ones use foot-pounds, which is also

a unit of distance multiplied by a unit of force. We know from our

study of mechanical work that newtons multiplied by meters equal

joules, but torque is a completely diﬀerent quantity from work, and

nobody writes torques with units of joules, even though it would be

technically correct.

p / Self-check.

self-check A

Compare the magnitudes and signs of the four torques shown in ﬁgure

p. > Answer, p. 861

How torque depends on the direction of the force example 6

> How can the torque applied to the wrench in the ﬁgure be ex-

pressed in terms of r , [F[, and the angle θ?

> The force vector and its F

⊥

component form the hypotenuse

and one leg of a right triangle,

and the interior angle opposite to F

⊥

equals θ. The absolute value

of F

⊥

can thus be expressed as

F

⊥

= [F[ sin θ,

leading to

[τ[ = r [F[ sin θ .

244 Chapter 4 Conservation of Angular Momentum

r / Example 7.

q / Visualizing torque in terms of

r

⊥

.

Sometimes torque can be more neatly visualized in terms of the

quantity :

⊥

shown in the ﬁgure on the left, which gives us a third

way of expressing the relationship between torque and force:

[τ[ = :

⊥

[1[ .

Of course you wouldn’t want to go and memorize all three equa-

tions for torque. Starting from any one of them you could easily

derive the other two using trigonometry. Familiarizing yourself with

them can however clue you in to easier avenues of attack on certain

problems.

The torque due to gravity

Up until now we’ve been thinking in terms of a force that acts

at a single point on an object, such as the force of your hand on the

wrench. This is of course an approximation, and for an extremely

realistic calculation of your hand’s torque on the wrench you might

need to add up the torques exerted by each square millimeter where

your skin touches the wrench. This is seldom necessary. But in

the case of a gravitational force, there is never any single point at

which the force is applied. Our planet is exerting a separate tug on

every brick in the Leaning Tower of Pisa, and the total gravitational

torque on the tower is the sum of the torques contributed by all the

little forces. Luckily there is a trick that allows us to avoid such

a massive calculation. It turns out that for purposes of computing

the total gravitational torque on an object, you can get the right

answer by just pretending that the whole gravitational force acts at

the object’s center of mass.

Gravitational torque on an outstretched arm example 7

> Your arm has a mass of 3.0 kg, and its center of mass is 30

cm from your shoulder. What is the gravitational torque on your

arm when it is stretched out horizontally to one side, taking the

shoulder to be the axis?

> The total gravitational force acting on your arm is

[F[ = (3.0 kg)(9.8 m´s

2

) = 29 N .

For the purpose of calculating the gravitational torque, we can

treat the force as if it acted at the arm’s center of mass. The force

is straight down, which is perpendicular to the line connecting the

shoulder to the center of mass, so

F

⊥

= [F[ = 29 N .

Continuing to pretend that the force acts at the center of the arm,

r equals 30 cm = 0.30 m, so the torque is

τ = r F

⊥

= 9 N m .

Section 4.1 Angular Momentum in Two Dimensions 245

s / Discussion question D.

t / Discussion question E.

Discussion Questions

A This series of discussion questions deals with past students’ incorrect

reasoning about the following problem.

Suppose a comet is at the point in its orbit shown in the ﬁgure. The

only force on the comet is the sun’s gravitational force. Throughout the

question, deﬁne all torques and angular momenta using the sun as the

axis.

(1) Is the sun producing a nonzero torque on the comet? Explain.

(2) Is the comet’s angular momentum increasing, decreasing, or staying

the same? Explain.

Explain what is wrong with the following answers. In some cases, the

answer is correct, but the reasoning leading up to it is wrong.

(a) Incorrect answer to part (1): “Yes, because the sun is exerting a force

on the comet, and the comet is a certain distance from the sun.”

(b) Incorrect answer to part (1): “No, because the torques cancel out.”

(c) Incorrect answer to part (2): “Increasing, because the comet is speed-

ing up.”

u / Discussion question A.

B You whirl a rock over your head on the end of a string, and gradually

pull in the string, eventually cutting the radius in half. What happens to

the rock’s angular momentum? What changes occur in its speed, the time

required for one revolution, and its acceleration? Why might the string

break?

C A helicopter has, in addition to the huge fan blades on top, a smaller

propeller mounted on the tail that rotates in a vertical plane. Why?

D Which claw hammer would make it easier to get the nail out of the

wood if the same force was applied in the same direction?

E The photo shows an amusement park ride whose two cars rotate in

opposite directions. Why is this a good design?

4.1.5 Applications to statics

In chapter 2 I deﬁned equilibrium as a situation where the inter-

action energy is minimized. This is the same as a condition of zero

total force, or constant momentum. Thus a car is in equilibrium not

just when it is parked but also when it is cruising down a straight

road with constant momentum.

Likewise there are many cases where a system is not closed but

maintains constant angular momentum. When a merry-go-round

is running at constant angular momentum, the engine’s torque is

246 Chapter 4 Conservation of Angular Momentum

w / Example 8.

v / The windmills are not closed

systems, but angular momentum

is being transferred out of them

at the same rate it is transferred

in, resulting in constant angular

momentum. To get an idea of

the huge scale of the modern

windmill farm, note the sizes of

the trucks and trailers.

being canceled by the torque due to friction.

It’s not enough for a boat not to sink — we’d also like to avoid

having it capsize. For this reason, we now redeﬁne equilibrium as

follows.

When an object has constant momentum and constant angular

momentum, we say that it is in equilibrium. Again, this is a scientiﬁc

redeﬁnition of the common English word, since in ordinary speech

nobody would describe a car spinning out on an icy road as being

in equilibrium.

Very commonly, however, we are interested in cases where an

object is not only in equilibrium but also at rest, and this corre-

sponds more closely to the usual meaning of the word. Statics is the

branch of physics concerned with problems such as these.

Solving statics problems is now simply a matter of applying and

combining some things you already know:

- You know the behaviors of the various types of forces, for exam-

ple that a frictional force is always parallel to the surface of contact.

- You know about vector addition of forces. It is the vector sum

of the forces that must equal zero to produce equilibrium.

- You know about torque. The total torque acting on an object

must be zero if it is to be in equilibrium.

- You know that the choice of axis is arbitrary, so you can make

a choice of axis that makes the problem easy to solve.

In general, this type of problem could involve four equations in

four unknowns: three equations that say the force components add

up to zero, and one equation that says the total torque is zero. Most

cases you’ll encounter will not be this complicated. In the example

below, only the equation for zero total torque is required in order

to get an answer.

A ﬂagpole example 8

> A 10-kg ﬂagpole is being held up by a lightweight horizontal

cable, and is propped against the foot of a wall as shown in the

ﬁgure. If the cable is only capable of supporting a tension of 70

N, how great can the angle α be without breaking the cable?

> > All three objects in the ﬁgure are supposed to be in equilib-

rium: the pole, the cable, and the wall. Whichever of the three ob-

jects we pick to investigate, all the forces and torques on it have to

cancel out. It is not particularly helpful to analyze the forces and

torques on the wall, since it has forces on it from the ground that

are not given and that we don’t want to ﬁnd. We could study the

forces and torques on the cable, but that doesn’t let us use the

given information about the pole. The object we need to analyze

is the pole.

Section 4.1 Angular Momentum in Two Dimensions 247

The pole has three forces on it, each of which may also result in

a torque: (1) the gravitational force, (2) the cable’s force, and (3)

the wall’s force.

We are free to deﬁne an axis of rotation at any point we wish, and

it is helpful to deﬁne it to lie at the bottom end of the pole, since

by that deﬁnition the wall’s force on the pole is applied at r = 0

and thus makes no torque on the pole. This is good, because we

don’t know what the wall’s force on the pole is, and we are not

trying to ﬁnd it.

With this choice of axis, there are two nonzero torques on the

pole, a counterclockwise torque from the cable and a clockwise

torque fromgravity. Choosing to represent counterclockwise torques

as positive numbers, and using the equation [τ[ = r [F[ sinθ, we

have

r

cabl e

[F

cabl e

[ sinθ

cabl e

−r

gr av

[F

gr av

[ sinθ

gr av

= 0 .

A little geometry gives θ

cabl e

= 90

◦

−α and θ

gr av

= α, so

r

cabl e

[F

cabl e

[ sin(90

◦

−α) −r

gr av

[F

gr av

[ sinα = 0 .

The gravitational force can be considered as acting at the pole’s

center of mass, i.e., at its geometrical center, so r

cabl e

is twice

r

gr av

, and we can simplify the equation to read

2[F

cabl e

[ sin(90

◦

−α) −[F

gr av

[ sinα = 0 .

These are all quantities we were given, except for α, which is the

angle we want to ﬁnd. To solve for α we need to use the trig

identity sin(90

◦

−x) = cos x,

2[F

cabl e

[ cos α −[F

gr av

[ sinα = 0 ,

which allows us to ﬁnd

tanα = 2

[F

cabl e

[

[F

gr av

[

α = tan

−1

2

[F

cabl e

[

[F

gr av

[

= tan

−1

2

70 N

98 N

= 55

◦

.

248 Chapter 4 Conservation of Angular Momentum

x / Example 9.

y / Stable and unstable equi-

libria.

z / The dancer’s equilibrium

is unstable. If she didn’t con-

stantly make tiny adjustments,

she would tip over.

Art! example 9

> The abstract sculpture shown in ﬁgure x contains a cube of

mass m and sides of length b. The cube rests on top of a cylinder,

which is off-center by a distance a. Find the tension in the cable.

> There are four forces on the cube: a gravitational force mg, the

force F

T

from the cable, the upward normal force from the cylin-

der, F

N

, and the horizontal static frictional force from the cylinder,

F

s

.

The total force on the cube in the vertical direction is zero:

F

N

−mg = 0 .

As our axis for deﬁning torques, it’s convenient to choose the point

of contact between the cube and the cylinder, because then nei-

ther F

s

nor F

N

makes any torque. The cable’s torque is coun-

terclockwise, and the torque due to gravity is clockwise. and the

cylinder’s torque is clockwise. Letting counterclockwise torques

be positive, and using the convenient equation τ = r

⊥

F, we ﬁnd

the equation for the total torque:

bF

T

−F

N

a = 0 .

We could also write down the equation saying that the total hori-

zontal force is zero, but that would bring in the cylinder’s frictional

force on the cube, which we don’t knowand don’t need to ﬁnd. We

already have two equations in the two unknowns F

T

and F

N

, so

there’s no need to make it into three equations in three unknowns.

Solving the ﬁrst equation for F

N

= mg, we then substitute into the

second equation to eliminate F

N

, and solve for F

T

= (a´b)mg.

Why is one equilibrium stable and another unstable? Try push-

ing your own nose to the left or the right. If you push it a millimeter

to the left, it responds with a gentle force to the right. If you push

it a centimeter to the left, its force on your ﬁnger becomes much

stronger. The deﬁning characteristic of a stable equilibrium is that

the farther the object is moved away from equilibrium, the stronger

the force is that tries to bring it back.

The opposite is true for an unstable equilibrium. In the top

ﬁgure, the ball resting on the round hill theoretically has zero total

force on it when it is exactly at the top. But in reality the total

force will not be exactly zero, and the ball will begin to move oﬀ to

one side. Once it has moved, the net force on the ball is greater than

it was, and it accelerates more rapidly. In an unstable equilibrium,

the farther the object gets from equilibrium, the stronger the force

that pushes it farther from equilibrium.

This idea can be rephrased in terms of energy. The diﬀerence

between the stable and unstable equilibria shown in ﬁgure y is that

in the stable equilibrium, the potential energy is at a minimum, and

Section 4.1 Angular Momentum in Two Dimensions 249

aa / Example 10.

moving to either side of equilibrium will increase it, whereas the

unstable equilibrium represents a maximum.

Note that we are using the term “stable” in a weaker sense than

in ordinary speech. A domino standing upright is stable in the sense

we are using, since it will not spontaneously fall over in response to

a sneeze from across the room or the vibration from a passing truck.

We would only call it unstable in the technical sense if it could be

toppled by any force, no matter how small. In everyday usage, of

course, it would be considered unstable, since the force required to

topple it is so small.

An application of calculus example 10

> Nancy Neutron is living in a uranium nucleus that is undergoing

ﬁssion. Nancy’s potential energy as a function of position can be

approximated by PE = x

4

− x

2

, where all the units and numeri-

cal constants have been suppressed for simplicity. Use calculus

to locate the equilibrium points, and determine whether they are

stable or unstable.

> The equilibrium points occur where the PE is at a minimum or

maximum, and minima and maxima occur where the derivative

(which equals minus the force on Nancy) is zero. This deriva-

tive is dPE´dx = 4x

3

− 2x, and setting it equal to zero, we have

x = 0, ±1´

√

2. Minima occur where the second derivative is pos-

itive, and maxima where it is negative. The second derivative

is 12x

2

− 2, which is negative at x = 0 (unstable) and positive at

x = ±1´

√

2 (stable). Interpretation: the graph of the PE is shaped

like a rounded letter ‘W,’ with the two troughs representing the two

halves of the splitting nucleus. Nancy is going to have to decide

which half she wants to go with.

4.1.6 Proof of Kepler’s elliptical orbit law

Kepler determined purely empirically that the planets’ orbits

were ellipses, without understanding the underlying reason in terms

of physical law. Newton’s proof of this fact based on his laws of

motion and law of gravity was considered his crowning achievement

both by him and by his contemporaries, because it showed that the

same physical laws could be used to analyze both the heavens and

the earth. Newton’s proof was very lengthy, but by applying the

more recent concepts of conservation of energy and angular momen-

tum we can carry out the proof quite simply and succinctly. This

subsection can be skipped without losing the continuity of the text.

The basic idea of the proof is that we want to describe the shape

of the planet’s orbit with an equation, and then show that this equa-

tion is exactly the one that represents an ellipse. Newton’s original

proof had to be very complicated because it was based directly on

his laws of motion, which include time as a variable. To make any

statement about the shape of the orbit, he had to eliminate time

250 Chapter 4 Conservation of Angular Momentum

ac / Proof that the two an-

gles labeled φ are in fact equal:

The deﬁnition of an ellipse is that

the sum of the distances from

the two foci stays constant. If we

move a small distance / along the

ellipse, then one distance shrinks

by an amount / cos φ

1

, while the

other grows by / cos φ

2

. These

are equal, so φ

1

= φ

2

.

ab / Describing a curve by

giving φ as a function of r .

from his equations, leaving only space variables. But conservation

laws tell us that certain things don’t change over time, so they have

already had time eliminated from them.

There are many ways of representing a curve by an equation, of

which the most familiar is n = or+/ for a line in two dimensions. It

would be perfectly possible to describe a planet’s orbit using an r-n

equation like this, but remember that we are applying conservation

of angular momentum, and the space variables that occur in the

equation for angular momentum are the distance from the axis, :,

and the angle between the velocity vector and the : vector, which

we will call φ. The planet will have φ = 90

◦

when it is moving

perpendicular to the : vector, i.e., at the moments when it is at its

smallest or greatest distances from the sun. When φ is less than 90

◦

the planet is approaching the sun, and when it is greater than 90

◦

it

is receding from it. Describing a curve with an :-φ equation is like

telling a driver in a parking lot a certain rule for what direction to

steer based on the distance from a certain streetlight in the middle

of the lot.

The proof is broken into the three parts for easier digestion.

The ﬁrst part is a simple and intuitively reasonable geometrical fact

about ellipses, whose proof we relegate to the caption of ﬁgure ac;

you will not be missing much if you merely absorb the result without

reading the proof.

(1) If we use one of the two foci of an ellipse as an axis for

deﬁning the variables : and φ, then the angle between the tangent

line and the line drawn to the other focus is the same as φ, i.e., the

two angles labeled φ in the ﬁgure are in fact equal.

The other two parts form the meat of our proof. We state the

results ﬁrst and then prove them.

(2) A planet, moving under the inﬂuence of the sun’s gravity

with less then the energy required to escape, obeys an equation of

the form

sin φ =

1

−j:

2

+ c:

,

where j and c are positive constants that depend on the planet’s

energy and angular momentum and j is greater than zero.

(3) A curve is an ellipse if and only if its :-φ equation is of the

form

sin φ =

1

−j:

2

+ c:

,

where j and c are positive constants that depend on the size and

shape of the ellipse.

Proof of part (2)

The component of the planet’s velocity vector that is perpen-

dicular to the r vector is ·

⊥

= · sin φ, so conservation of angular

Section 4.1 Angular Momentum in Two Dimensions 251

ad / Quantities referred to in

the proof of part (3).

momentum tells us that 1 = ::· sin φ is a constant. Since the

planet’s mass is a constant, this is the same as the condition

:· sin φ = constant .

Conservation of energy gives

1

2

:·

2

−G

`:

:

= constant .

We solve the ﬁrst equation for · and plug into the second equa-

tion to eliminate ·. Straightforward algebra then leads to the equa-

tion claimed above, with the constant j being positive because of

our assumption that the planet’s energy is insuﬃcient to escape from

the sun, i.e., its total energy is negative.

Proof of part (3)

We deﬁne the quantities α, d, and : as shown in ﬁgure ad. The

law of cosines gives

d

2

= :

2

+ :

2

−2:: cos α .

Using α = 180

◦

−2φ and the trigonometric identities cos(180

◦

−r) =

−cos r and cos 2r = 1 −2 sin

2

r, we can rewrite this as

d

2

= :

2

+ :

2

−2::

2 sin

2

φ −1

.

Straightforward algebra transforms this into

sin φ =

(: + :)

2

−d

2

4::

.

Since : + : is constant, the top of the fraction is constant, and the

denominator can be rewritten as 4:: = 4:(constant − :), which is

equivalent to the desired form.

252 Chapter 4 Conservation of Angular Momentum

a / The two atoms cover the

same angle in a given time

interval.

b / Their velocity vectors, how-

ever, differ in both magnitude and

direction.

4.2 Rigid-Body Rotation

4.2.1 Kinematics

When a rigid object rotates, every part of it (every atom) moves

in a circle, covering the same angle in the same amount of time,

a. Every atom has a diﬀerent velocity vector, b. Since all the

velocities are diﬀerent, we can’t measure the speed of rotation of

the top by giving a single velocity. We can, however, specify its

speed of rotation consistently in terms of angle per unit time. Let

the position of some reference point on the top be denoted by its

angle θ, measured in a circle around the axis. For reasons that will

become more apparent shortly, we measure all our angles in radians.

Then the change in the angular position of any point on the top can

be written as dθ, and all parts of the top have the same value of dθ

over a certain time interval dt. We deﬁne the angular velocity, ω

(Greek omega),

ω =

dθ

dt

,

[deﬁnition of angular velocity; θ in units of radians]

which is similar to, but not the same as, the quantity ω we deﬁned

earlier to describe vibrations. The relationship between ω and t

is exactly analogous to that between r and t for the motion of a

particle through space.

self-check B

If two different people chose two different reference points on the top

in order to deﬁne θ=0, how would their θ-t graphs differ? What effect

would this have on the angular velocities? > Answer, p. 861

The angular velocity has units of radians per second, rad/s.

However, radians are not really units at all. The radian measure

of an angle is deﬁned, as the length of the circular arc it makes,

divided by the radius of the circle. Dividing one length by another

gives a unitless quantity, so anything with units of radians is really

unitless. We can therefore simplify the units of angular velocity, and

call them inverse seconds, s

−1

.

A 78-rpm record example 11

> In the early 20th century, the standard format for music record-

ings was a plastic disk that held a single song and rotated at 78

rpm (revolutions per minute). What was the angular velocity of

such a disk?

> If we measure angles in units of revolutions and time in units

of minutes, then 78 rpm is the angular velocity. Using standard

physics units of radians/second, however, we have

78 revolutions

1 minute

2π radians

1 revolution

1 minute

60 seconds

= 8.2 s

−1

.

Section 4.2 Rigid-Body Rotation 253

d / We construct a coordi-

nate system that coincides with

the location and motion of the

moving point of interest at a

certain moment.

c / Analogies between rota-

tional and linear quantities.

In the absence of any torque, a rigid body will rotate indeﬁnitely

with the same angular velocity. If the angular velocity is changing

because of a torque, we deﬁne an angular acceleration,

α =

dω

dt

, [deﬁnition of angular acceleration]

The symbol is the Greek letter alpha. The units of this quantity are

rad´s

2

, or simply s

−2

.

The mathematical relationship between ω and θ is the same as

the one between · and r, and similarly for α and o. We can thus

make a system of analogies, c, and recycle all the familiar kinematic

equations for constant-acceleration motion.

The synodic period example 12

Mars takes nearly twice as long as the Earth to complete an orbit.

If the two planets are alongside one another on a certain day,

then one year later, Earth will be back at the same place, but

Mars will have moved on, and it will take more time for Earth to

ﬁnish catching up. Angular velocities add and subtract, just as

velocity vectors do. If the two planets’ angular velocities are ω

1

and ω

2

, then the angular velocity of one relative to the other is

ω

1

−ω

2

. The corresponding period, 1´(1´T

1

−1´T

2

) is known as

the synodic period.

A neutron star example 13

> A neutron star is initially observed to be rotating with an angular

velocity of 2.0 s

−1

, determined via the radio pulses it emits. If its

angular acceleration is a constant −1.0 10

−8

s

−2

, how many

rotations will it complete before it stops? (In reality, the angular

acceleration is not always constant; sudden changes often occur,

and are referred to as “starquakes!”)

> The equation v

2

f

−v

2

i

=2a∆x can be translated into ω

2

f

−ω

2

i

=2α∆θ,

giving

∆θ = (ω

2

f

−ω

2

i

)´2α

= 2.0 10

8

radians

= 3.2 10

7

rotations .

4.2.2 Relations between angular quantities and motion of a

point

It is often necessary to be able to relate the angular quantities

to the motion of a particular point on the rotating object. As we

develop these, we will encounter the ﬁrst example where the advan-

tages of radians over degrees become apparent.

The speed at which a point on the object moves depends on

both the object’s angular velocity ω and the point’s distance : from

the axis. We adopt a coordinate system, d, with an inward (radial)

254 Chapter 4 Conservation of Angular Momentum

e / Even if the rotating object

has zero angular acceleration,

every point on it has an ac-

celeration towards the center.

axis and a tangential axis. The length of the inﬁnitesimal circular

arc d: traveled by the point in a time interval dt is related to dθ

by the deﬁnition of radian measure, dθ = d:´:, where positive and

negative values of d: represent the two possible directions of motion

along the tangential axis. We then have ·

t

= d:´dt = :dθ´dt = ω:,

or

·

t

= ω: . [tangential velocity of a point at a

distance : from the axis of rotation]

The radial component is zero, since the point is not moving inward

or outward,

·

r

= 0 . [radial velocity of a point at a

distance : from the axis of rotation]

Note that we had to use the deﬁnition of radian measure in this

derivation. Suppose instead we had used units of degrees for our an-

gles and degrees per second for angular velocities. The relationship

between dθ

degrees

and d: is dθ

degrees

= (360´2π):´:, where the extra

conversion factor of (360´2π) comes from that fact that there are 360

degrees in a full circle, which is equivalent to 2π radians. The equa-

tion for ·

t

would then have been ·

t

= (2π´360)(ω

degrees per second

)(:),

which would have been much messier. Simplicity, then, is the rea-

son for using radians rather than degrees; by using radians we avoid

infecting all our equations with annoying conversion factors.

Since the velocity of a point on the object is directly proportional

to the angular velocity, you might expect that its acceleration would

be directly proportional to the angular acceleration. This is not true,

however. Even if the angular acceleration is zero, i.e., if the object

is rotating at constant angular velocity, every point on it will have

an acceleration vector directed toward the axis, e. As derived on

page 202, the magnitude of this acceleration is

o

r

= ω

2

: . [radial acceleration of a point

at a distance : from the axis]

For the tangential component, any change in the angular velocity

dω will lead to a change dω: in the tangential velocity, so it is easily

shown that

o

t

= α: . [radial acceleration of a point

at a distance : from the axis]

self-check C

Positive and negative signs of ω represent rotation in opposite direc-

tions. Why does it therefore make sense physically that ω is raised to

the ﬁrst power in the equation for v

t

and to the second power in the one

for a

r

? > Answer, p. 861

Section 4.2 Rigid-Body Rotation 255

Radial acceleration at the surface of the Earth example 14

> What is your radial acceleration due to the rotation of the earth

if you are at the equator?

> At the equator, your distance from the Earth’s rotation axis is

the same as the radius of the spherical Earth, 6.4 10

6

m. Your

angular velocity is

ω =

2π radians

1 day

= 7.3 10

−5

s

−1

,

which gives an acceleration of

a

r

= ω

2

r

= 0.034 m´s

2

.

The angular velocity was a very small number, but the radius was

a very big number. Squaring a very small number, however, gives

a very very small number, so the ω

2

factor “wins,” and the ﬁnal

result is small.

If you’re standing on a bathroom scale, this small acceleration is

provided by the imbalance between the downward force of gravity

and the slightly weaker upward normal force of the scale on your

foot. The scale reading is therefore a little lower than it should

be.

4.2.3 Dynamics

If we want to connect all this kinematics to anything dynamical,

we need to see how it relates to torque and angular momentum.

Our strategy will be to tackle angular momentum ﬁrst, since angu-

lar momentum relates to motion, and to use the additive property

of angular momentum: the angular momentum of a system of par-

ticles equals the sum of the angular momenta of all the individual

particles. The angular momentum of one particle within our rigidly

rotating object, 1 = :·

⊥

:, can be rewritten as 1 = : j sin θ,

where : and j are the magnitudes of the particle’s r and momen-

tum vectors, and θ is the angle between these two vectors. (The r

vector points outward perpendicularly from the axis to the parti-

cle’s position in space.) In rigid-body rotation the angle θ is 90

◦

,

so we have simply 1 = :j. Relating this to angular velocity, we

have 1 = :j = (:)(:·) = (:)(:ω:) = ::

2

ω. The particle’s con-

tribution to the total angular momentum is proportional to ω, with

a proportionality constant ::

2

. We refer to ::

2

as the particle’s

contribution to the object’s total moment of inertia, 1, where “mo-

ment” is used in the sense of “important,” as in “momentous” — a

bigger value of 1 tells us the particle is more important for deter-

mining the total angular momentum. The total moment of inertia

256 Chapter 4 Conservation of Angular Momentum

g / Example 15

f / Analogies between rota-

tional and linear quantities.

is

1 =

¸

:

i

:

2

i

, [deﬁnition of the moment of inertia;

for rigid-body rotation in a plane; : is the distance

from the axis, measured perpendicular to the axis]

The angular momentum of a rigidly rotating body is then

1 = 1ω . [angular momentum of

rigid-body rotation in a plane]

Since torque is deﬁned as d1´dt, and a rigid body has a constant

moment of inertia, we have τ = d1´dt = 1dω´dt = 1α,

τ = 1α , [relationship between torque and

angular acceleration for rigid-body rotation in a plane]

which is analogous to 1 = :o.

The complete system of analogies between linear motion and

rigid-body rotation is given in ﬁgure f.

A barbell example 15

> The barbell shown in ﬁgure g consists of two small, dense, mas-

sive balls at the ends of a very light rod. The balls have masses

of 2.0 kg and 1.0 kg, and the length of the rod is 3.0 m. Find

the moment of inertia of the rod (1) for rotation about its center of

mass, and (2) for rotation about the center of the more massive

ball.

> (1) The ball’s center of mass lies 1/3 of the way from the greater

mass to the lesser mass, i.e., 1.0 m from one and 2.0 m from the

other. Since the balls are small, we approximate them as if they

were two pointlike particles. The moment of inertia is

I = (2.0 kg)(1.0 m)

2

+ (1.0 kg)(2.0 m)

2

= 2.0 kgm

2

+ 4.0 kgm

2

= 6.0 kgm

2

Perhaps counterintuitively, the less massive ball contributes far

more to the moment of inertia.

(2) The big ball theoretically contributes a little bit to the moment

of inertia, since essentially none of its atoms are exactly at r =0.

However, since the balls are said to be small and dense, we as-

sume all the big ball’s atoms are so close to the axis that we can

ignore their small contributions to the total moment of inertia:

I = (1.0 kg)(3.0 m)

2

= 9.0 kgm

2

This example shows that the moment of inertia depends on the

choice of axis. For example, it is easier to wiggle a pen about its

center than about one end.

Section 4.2 Rigid-Body Rotation 257

The parallel axis theorem example 16

> Generalizing the previous example, suppose we pick any axis

parallel to axis 1, but offset from it by a distance h. Part (2) of

the previous example then corresponds to the special case of

h = −1.0 m (negative being to the left). What is the moment of

inertia about this new axis?

> The big ball’s distance from the new axis is (1.0 m)+h, and the

small one’s is (2.0 m)-h. The new moment of inertia is

I = (2.0 kg)[(1.0 m)+h]

2

+ (1.0 kg)[(2.0 m) −h]

2

= 6.0 kgm

2

+ (4.0 kgm)h −(4.0 kgm)h + (3.0 kg)h

2

.

The constant term is the same as the moment of inertia about the

center-of-mass axis, the ﬁrst-order terms cancel out, and the third

term is just the total mass multiplied by h

2

. The interested reader

will have no difﬁculty in generalizing this to any set of particles,

resulting in the parallel axis theorem: If an object of total mass M

rotates about a line at a distance h from its center of mass, then

its moment of inertia equals I

cm

+ Mh

2

, where I

cm

is the moment

of inertia for rotation about a parallel line through the center of

mass.

Scaling of the moment of inertia example 17

> (1) Suppose two objects have the same mass and the same

shape, but one is less dense, and larger by a factor k. How do

their moments of inertia compare?

(2) What if the densities are equal rather than the masses?

> (1) This is like increasing all the distances between atoms by a

factor k. All the r ’s become greater by this factor, so the moment

of inertia is increased by a factor of k

2

.

(2) This introduces an increase in mass by a factor of k

3

, so the

moment of inertia of the bigger object is greater by a factor of

k

5

.

4.2.4 Iterated integrals

In various places in this book, starting with subsection 4.2.5,

we’ll come across integrals stuck inside other integrals. (We’ll also

use them in subsection 11.2.3.) These are known as iterated inte-

grals, or double integrals, triple integrals, etc. Similar concepts crop

up all the time even when you’re not doing calculus, so let’s start

by imagining such an example. Suppose you want to count how

many squares there are on a chess board, and you don’t know how

to multiply eight times eight. You could start from the upper left,

count eight squares across, then continue with the second row, and

so on, until you how counted every square, giving the result of 64.

In slightly more formal mathematical language, we could write the

following recipe: for each row, :, from 1 to 8, consider the columns,

c, from 1 to 8, and add one to the count for each one of them. Using

258 Chapter 4 Conservation of Angular Momentum

the sigma notation, this becomes

8

¸

r=1

8

¸

c=1

1 .

If you’re familiar with computer programming, then you can think

of this as a sum that could be calculated using a loop nested inside

another loop. To evaluate the result (again, assuming we don’t know

how to multiply, so we have to use brute force), we can ﬁrst evaluate

the inside sum, which equals 8, giving

8

¸

r=1

8 .

Notice how the “dummy” variable c has disappeared. Finally we do

the outside sum, over :, and ﬁnd the result of 64.

Now imagine doing the same thing with the pixels on a TV

screen. The electron beam sweeps across the screen, painting the

pixels in each row, one at a time. This is really no diﬀerent than the

example of the chess board, but because the pixels are so small, you

normally think of the image on a TV screen as continuous rather

than discrete. This is the idea of an integral in calculus. Suppose

we want to ﬁnd the area of a rectangle of width o and height /, and

we don’t know that we can just multiply to get the area o/. The

brute force way to do this is to break up the rectangle into a grid of

inﬁnitesimally small squares, each having width dr and height dn,

and therefore the inﬁnitesimal area d¹ = drdn. For convenience,

we’ll imagine that the rectangle’s lower left corner is at the origin.

Then the area is given by this integral:

area =

b

y=0

a

x=0

d¹

=

b

y=0

a

x=0

dr dn

Notice how the leftmost integral sign, over n, and the rightmost dif-

ferential, dn, act like bookends, or the pieces of bread on a sandwich.

Inside them, we have the integral sign that runs over r, and the dif-

ferential dr that matches it on the right. Finally, on the innermost

layer, we’d normally have the thing we’re integrating, but here’s it’s

1, so I’ve omitted it. Writing the lower limits of the integrals with

r = and n = helps to keep it straight which integral goes with with

Section 4.2 Rigid-Body Rotation 259

diﬀerential. The result is

area =

b

y=0

a

x=0

d¹

=

b

y=0

a

x=0

dr dn

=

b

y=0

a

x=0

dr

dn

=

b

y=0

o dn

= o

b

y=0

dn

= o/ .

Area of a triangle example 18

> Find the area of a 45-45-90 right triangle having legs a.

> Let the triangle’s hypotenuse run from the origin to the point

(a, a), and let its legs run from the origin to (0, a), and then to

(a, a). In other words, the triangle sits on top of its hypotenuse.

Then the integral can be set up the same way as the one before,

but for a particular value of y, values of x only run from 0 (on the

y axis) to y (on the hypotenuse). We then have

area =

a

y=0

y

x=0

dA

=

a

y=0

y

x=0

dx dy

=

a

y=0

y

x=0

dx

dy

=

a

y=0

y dy

=

1

2

a

2

Note that in this example, because the upper end of the x values

depends on the value of y, it makes a difference which order we

do the integrals in. The x integral has to be on the inside, and we

have to do it ﬁrst.

Volume of a cube example 19

> Find the volume of a cube with sides of length a.

> This is a three-dimensional example, so we’ll have integrals

nested three deep, and the thing we’re integrating is the volume

dV = dxdydz.

260 Chapter 4 Conservation of Angular Momentum

volume =

a

z=0

a

y=0

a

x=0

dx dy dz

=

a

z=0

a

y=0

a dy dz

= a

a

z=0

a

y=0

dy dz

= a

a

z=0

a dz

= a

3

Area of a circle example 20

> Find the area of a circle.

> To make it easy, let’s ﬁnd the area of a semicircle and then

double it. Let the circle’s radius be r , and let it be centered on the

origin and bounded below by the x axis. Then the curved edge

is given by the equation r

2

= x

2

+ y

2

, or y =

√

r

2

−x

2

. Since

the y integral’s limit depends on x, the x integral has to be on the

outside. The area is

area =

r

x=−r

√

r

2

−x

2

y=0

dy dx

=

r

x=−r

r

2

−x

2

dx

= r

r

x=−r

1 −(x´r )

2

dx .

Substituting u = x´r ,

area = r

2

1

u=−1

1 −u

2

du

The deﬁnite integal equals π, as you can ﬁnd using a trig substi-

tution or simply by looking it up in a table, and the result is, as

expected, πr

2

´2 for the area of the semicircle.

4.2.5 Finding moments of inertia by integration

When calculating the moment of inertia of an ordinary-sized ob-

ject with perhaps 10

26

atoms, it would be impossible to do an actual

sum over atoms, even with the world’s fastest supercomputer. Cal-

culus, however, oﬀers a tool, the integral, for breaking a sum down

to inﬁnitely many small parts. If we don’t worry about the exis-

tence of atoms, then we can use an integral to compute a moment

Section 4.2 Rigid-Body Rotation 261

of inertia as if the object was smooth and continuous throughout,

rather than granular at the atomic level. Of course this granular-

ity typically has a negligible eﬀect on the result unless the object

is itself an individual molecule. This subsection consists of three

examples of how to do such a computation, at three distinct levels

of mathematical complication.

Moment of inertia of a thin rod

What is the moment of inertia of a thin rod of mass ` and

length 1 about a line perpendicular to the rod and passing through

its center? We generalize the discrete sum

1 =

¸

:

i

:

2

i

to a continuous one,

1 =

:

2

d:

=

L/2

−L/2

r

2

`

1

dr [: = [r[, so :

2

= r

2

]

=

1

12

`1

2

In this example the object was one-dimensional, which made

the math simple. The next example shows a strategy that can be

used to simplify the math for objects that are three-dimensional,

but possess some kind of symmetry.

Moment of inertia of a disk

What is the moment of inertia of a disk of radius /, thickness t,

and mass `, for rotation about its central axis?

We break the disk down into concentric circular rings of thick-

ness d:. Since all the mass in a given circular slice has essentially

the same value of : (ranging only from : to : + d:), the slice’s con-

tribution to the total moment of inertia is simply :

2

d:. We then

have

1 =

:

2

d:

=

:

2

ρ d\ ,

where \ = π/

2

t is the total volume, ρ = `´\ = `´π/

2

t is the

density, and the volume of one slice can be calculated as the volume

enclosed by its outer surface minus the volume enclosed by its inner

surface, d\ = π(: + d:)

2

t −π:

2

t = 2πt:d:.

1 =

b

0

:

2

`

π/

2

t

2πt : d:

=

1

2

`/

2

.

262 Chapter 4 Conservation of Angular Momentum

In the most general case where there is no symmetry about the

rotation axis, we must use iterated integrals, as discussed in subsec-

tion 4.2.4. The example of the disk possessed two types of symme-

try with respect to the rotation axis: (1) the disk is the same when

rotated through any angle about the axis, and (2) all slices perpen-

dicular to the axis are the same. These two symmetries reduced the

number of layers of integrals from three to one. The following ex-

ample possesses only one symmetry, of type (2), and we simply set

it up as a triple integral. You may not have seen multiple integrals

yet in a math course. If so, just skim this example.

Moment of inertia of a cube

What is the moment of inertia of a cube of side /, for rotation

about an axis that passes through its center and is parallel to four

of its faces? Let the origin be at the center of the cube, and let r

be the rotation axis.

1 =

:

2

d:

= ρ

:

2

d\

= ρ

b/2

−b/2

b/2

−b/2

b/2

−b/2

n

2

+ .

2

dr dn d.

= ρ/

b/2

−b/2

b/2

−b/2

n

2

+ .

2

dn d.

The fact that the last step is a trivial integral results from the sym-

metry of the problem. The integrand of the remaining double in-

tegral breaks down into two terms, each of which depends on only

one of the variables, so we break it into two integrals,

1 = ρ/

b/2

−b/2

b/2

−b/2

n

2

dn d. + ρ/

b/2

−b/2

b/2

−b/2

.

2

dn d.

which we know have identical results. We therefore only need to

evaluate one of them and double the result:

1 = 2ρ/

b/2

−b/2

b/2

−b/2

.

2

dn d .

= 2ρ/

2

b/2

−b/2

.

2

d.

=

1

6

ρ/

5

=

1

6

`/

2

Figure h shows the moments of inertia of some shapes, which

were evaluated with techniques like these.

Section 4.2 Rigid-Body Rotation 263

i / Example 22.

h / Moments of inertia of some

geometric shapes.

The hammer throw example 21

> In the men’s Olympic hammer throw, a steel ball of radius 6.1 cm

is swung on the end of a wire of length 1.22 m. What fraction of

the ball’s angular momentum comes from its rotation, as opposed

to its motion through space?

> It’s always important to solve problems symbolically ﬁrst, and

plug in numbers only at the end, so let the radius of the ball be b,

and the length of the wire /. If the time the ball takes to go once

around the circle is T, then this is also the time it takes to revolve

once around its own axis. Its speed is v = 2π/´T, so its angular

momentum due to its motion through space is mv/ = 2πm/

2

´T.

Its angular momentum due to its rotation around its own cen-

ter is (4π´5)mb

2

´T. The ratio of these two angular momenta is

(2´5)(b´/)

2

= 1.010

−3

. The angular momentum due to the ball’s

spin is extremely small.

Toppling a rod example 22

> A rod of length b and mass m stands upright. We want to strike

the rod at the bottom, causing it to fall and land ﬂat. Find the

momentum, p, that should be delivered, in terms of m, b, and

g. Can this really be done without having the rod scrape on the

ﬂoor?

> This is a nice example of a question that can very nearly be

answered based only on units. Since the three variables, m, b,

and g, all have different units, they can’t be added or subtracted.

The only way to combine them mathematically is by multiplication

or division. Multiplying one of them by itself is exponentiation, so

in general we expect that the answer must be of the form

p = Am

j

b

k

g

l

,

where A, j , k, and l are unitless constants. The result has to have

units of kgm´s. To get kilograms to the ﬁrst power, we need

j = 1 ,

264 Chapter 4 Conservation of Angular Momentum

meters to the ﬁrst power requires

k + l = 1 ,

and seconds to the power −1 implies

l = 1´2 .

We ﬁnd j = 1, k = 1´2, and l = 1´2, so the solution must be of the

form

p = Am

bg .

Note that no physics was required!

Consideration of units, however, won’t help us to ﬁnd the unit-

less constant A. Let t be the time the rod takes to fall, so that

(1´2)gt

2

= b´2. If the rod is going to land exactly on its side,

then the number of revolutions it completes while in the air must

be 1/4, or 3/4, or 5/4, . . . , but all the possibilities greater than 1/4

would cause the head of the rod to collide with the ﬂoor prema-

turely. The rod must therefore rotate at a rate that would cause

it to complete a full rotation in a time T = 4t , and it has angular

momentum L = (π´6)mb

2

´T.

The momentum lost by the object striking the rod is p, and by

conservation of momentum, this is the amount of momentum, in

the horizontal direction, that the rod acquires. In other words,

the rod will ﬂy forward a little. However, this has no effect on

the solution to the problem. More importantly, the object striking

the rod loses angular momentum bp´2, which is also transferred

to the rod. Equating this to the expression above for L, we ﬁnd

p = (π´12)m

bg.

Finally, we need to know whether this can really be done without

having the foot of the rod scrape on the ﬂoor. The ﬁgure shows

that the answer is no for this rod of ﬁnite width, but it appears

that the answer would be yes for a sufﬁciently thin rod. This is

analyzed further in homework problem 37 on page 282.

Section 4.2 Rigid-Body Rotation 265

4.3 Angular Momentum in Three Dimensions

Conservation of angular momentum produces some surprising phe-

nomena when extended to three dimensions. Try the following ex-

periment, for example. Take oﬀ your shoe, and toss it in to the air,

making it spin along its long (toe-to-heel) axis. You should observe

a nice steady pattern of rotation. The same happens when you spin

the shoe about its shortest (top-to-bottom) axis. But something

unexpected happens when you spin it about its third (left-to-right)

axis, which is intermediate in length between the other two. Instead

of a steady pattern of rotation, you will observe something more

complicated, with the shoe changing its orientation with respect to

the rotation axis.

4.3.1 Rigid-body kinematics in three dimensions

How do we generalize rigid-body kinematics to three dimensions?

When we wanted to generalize the kinematics of a moving particle

to three dimensions, we made the numbers :, ·, and o into vectors

r, v, and a. This worked because these quantities all obeyed the

same laws of vector addition. For instance, one of the laws of vector

addition is that, just like addition of numbers, vector addition gives

the same result regardless of the order of the two quantities being

added. Thus you can step sideways 1 m to the right and then

step forward 1 m, and the end result is the same as if you stepped

forward ﬁrst and then to the side. In order words, it didn’t matter

whether you took ∆r

1

+ ∆r

2

or ∆r

2

+ ∆r

1

. In math this is called

the commutative property of addition.

a / Performing the rotations in one

order gives one result, 3, while re-

versing the order gives a different

result, 5.

Angular motion, unfortunately doesn’t have this property, as

shown in ﬁgure a. Doing a rotation about the r axis and then

266 Chapter 4 Conservation of Angular Momentum

b / The right-hand rule for

associating a vector with a

direction of rotation.

about n gives one result, while doing them in the opposite order

gives a diﬀerent result. These operations don’t “commute,” i.e., it

makes a diﬀerence what order you do them in.

This means that there is in general no possible way to construct

a ∆θ vector. However, if you try doing the operations shown in

ﬁgure a using small rotation, say about 10 degrees instead of 90,

you’ll ﬁnd that the result is nearly the same regardless of what

order you use; small rotations are very nearly commutative. Not

only that, but the result of the two 10-degree rotations is about the

same as a single, somewhat larger, rotation about an axis that lies

symmetrically at between the r and n axes at 45 degree angles to

each one. This is exactly what we would expect if the two small

rotations did act like vectors whose directions were along the axis

of rotation. We therefore deﬁne a dθ vector whose magnitude is

the amount of rotation in units of radians, and whose direction is

along the axis of rotation. Actually this deﬁnition is ambiguous,

because there it could point in either direction along the axis. We

therefore use a right-hand rule as shown in ﬁgure b to deﬁne the

direction of the dθ vector, and the ω vector, ω = dθ´dt, based on

it. Aliens on planet Tammyfaye may decide to deﬁne it using their

left hands rather than their right, but as long as they keep their

scientiﬁc literature separate from ours, there is no problem. When

entering a physics exam, always be sure to write a large warning note

on your left hand in magic marker so that you won’t be tempted to

use it for the right-hand rule while keeping your pen in your right.

self-check D

Use the right-hand rule to determine the directions of the ω vectors in

each rotation shown in ﬁgures a/1 through a/5. > Answer, p. 861

Because the vector relationships among dθ, ω, and α are strictly

analogous to the ones involving dr, v, and a (with the proviso that

we avoid describing large rotations using ∆θ vectors), any operation

in r-v-a vector kinematics has an exact analog in θ-ω-α kinematics.

Result of successive 10-degree rotations example 23

> What is the result of two successive (positive) 10-degree rota-

tions about the x and y axes? That is, what single rotation about a

single axis would be equivalent to executing these in succession?

> The result is only going to be approximate, since 10 degrees

is not an inﬁnitesimally small angle, and we are not told in what

order the rotations occur. To some approximation, however, we

can add the ∆θ vectors in exactly the same way we would add ∆r

vectors, so we have

∆θ ≈ ∆θ

1

+ ∆θ

2

≈ (10 degrees)ˆ x + (10 degrees)ˆ y .

This is a vector with a magnitude of

(10 deg)

2

+ (10 deg)

2

=

Section 4.3 Angular Momentum in Three Dimensions 267

14 deg, and it points along an axis midway between the x and y

axes.

4.3.2 Angular momentum in three dimensions

The vector cross product

In order to expand our system of three-dimensional kinematics to

include dynamics, we will have to generalize equations like ·

t

= ω:,

τ = :1 sin θ

rF

, and 1 = :j sin θ

rp

, each of which involves three

quantities that we have either already deﬁned as vectors or that we

want to redeﬁne as vectors. Although the ﬁrst one appears to diﬀer

from the others in its form, it could just as well be rewritten as

·

t

= ω: sin θ

ωr

, since θ

ωr

= 90

◦

, and sin θ

ωr

= 1.

It thus appears that we have discovered something general about

the physically useful way to relate three vectors in a multiplicative

way: the magnitude of the result always seems to be proportional to

the product of the magnitudes of the two vectors being “multiplied,”

and also to the sine of the angle between them.

Is this pattern just an accident? Actually the sine factor has

a very important physical property: it goes to zero when the two

vectors are parallel. This is a Good Thing. The generalization of

angular momentum into a three-dimensional vector, for example, is

presumably going to describe not just the clockwise or counterclock-

wise nature of the motion but also from which direction we would

have to view the motion so that it was clockwise or counterclock-

wise. (A clock’s hands go counterclockwise as seen from behind the

clock, and don’t rotate at all as seen from above or to the side.) Now

suppose a particle is moving directly away from the origin, so that

its r and p vectors are parallel. It is not going around the origin

from any point of view, so its angular momentum vector had better

be zero.

Thinking in a slightly more abstract way, we would expect the

angular momentum vector to point perpendicular to the plane of

motion, just as the angular velocity vector points perpendicular to

the plane of motion. The plane of motion is the plane containing

both r and p, if we place the two vectors tail-to-tail. But if r and

p are parallel and are placed tail-to-tail, then there are inﬁnitely

many planes containing them both. To pick one of these planes in

preference to the others would violate the symmetry of space, since

they should all be equally good. Thus the zero-if-parallel property

is a necessary consequence of the underlying symmetry of the laws

of physics.

The following deﬁnition of a kind of vector multiplication is con-

sistent with everything we’ve seen so far, and later we’ll prove that

the deﬁnition is unique, i.e., if we believe in the symmetry of space,

it is essentially the only way of deﬁning the multiplication of two

268 Chapter 4 Conservation of Angular Momentum

d / The magnitude of the cross

product is the area of the shaded

parallelogram.

e / A cyclic change in the x,

y, and z subscripts.

c / The right-hand rule for

the direction of the vector cross

product.

vectors to produce a third vector:

Deﬁnition of the vector cross product:

The cross product A B of two vectors A and B is deﬁned as

follows:

(1) Its magnitude is deﬁned by [AB[ = [A[[B[ sin θ

AB

, where θ

AB

is the angle between A and B when they are placed tail-to-tail.

(2) Its direction is along the line perpendicular to both A and B.

Of the two such directions, it is the one that obeys the right-hand

rule shown in ﬁgure c.

The name “cross product” refers to the symbol, and distin-

guishes it from the dot product, which acts on two vectors but

produces a scalar.

Although the vector cross-product has nearly all the properties

of numerical multiplication, e.g., A(B+C) = AB+AC, it

lacks the usual property of commutativity. Try applying the right-

hand rule to ﬁnd the direction of the vector cross product B A

using the two vectors shown in the ﬁgure. This requires starting

with a ﬂattened hand with the four ﬁngers pointing along B, and

then curling the hand so that the ﬁngers point along A. The only

possible way to do this is to point your thumb toward the ﬂoor, in

the opposite direction. Thus for the vector cross product we have

AB = −BA ,

a property known as anticommutativity. The vector cross product

is also not associative, i.e., A(BC) is usually not the same as

(AB) C.

A geometric interpretation of the cross product, d, is that if both

A and B are vectors with units of distance, then the magnitude of

their cross product can be interpreted as the area of the parallelo-

gram they form when placed tail-to-tail.

A useful expression for the components of the vector cross prod-

uct in terms of the components of the two vectors being multiplied

is as follows:

(AB)

x

= ¹

y

1

z

−1

y

¹

z

(AB)

y

= ¹

z

1

x

−1

z

¹

x

(AB)

z

= ¹

x

1

y

−1

x

¹

y

I’ll prove later that these expressions are equivalent to the previ-

ous deﬁnition of the cross product. Although they may appear

formidable, they have a simple structure: the subscripts on the right

are the other two besides the one on the left, and each equation is

related to the preceding one by a cyclic change in the subscripts,

e. If the subscripts were not treated in some completely symmetric

Section 4.3 Angular Momentum in Three Dimensions 269

f / The position and momen-

tum vectors of an atom in the

spinning top.

g / The right-hand rule for

the atom’s contribution to the

angular momentum.

manner like this, then the deﬁnition would provide some way to dis-

tinguish one axis from another, which would violate the symmetry

of space.

self-check E

Show that the component equations are consistent with the rule AB =

−B A. > Answer, p. 861

Angular momentum in three dimensions

In terms of the vector cross product, we have:

v = ω r

L = r p

τ = r F

But wait, how do we know these equations are even correct?

For instance, how do we know that the quantity deﬁned by r p

is in fact conserved? Well, just as we saw on page 205 that the

dot product is unique (i.e., can only be deﬁned in one way while

observing rotational invariance), the cross product is also unique,

as proved on page 848. If r p was not conserved, then there could

not be any generally conserved quantity that would reduce to our

old deﬁnition of angular momentum in the special case of plane

rotation. This doesn’t prove conservation of angular momentum

— only experiments can prove that — but it does prove that if

angular momentum is conserved in three dimensions, there is only

one possible way to generalize from two dimensions to three.

Angular momentum of a spinning top example 24

As an illustration, we consider the angular momentum of a spin-

ning top. Figures f and g show the use of the vector cross prod-

uct to determine the contribution of a representative atom to the

total angular momentum. Since every other atom’s angular mo-

mentum vector will be in the same direction, this will also be the

direction of the total angular momentum of the top. This happens

to be rigid-body rotation, and perhaps not surprisingly, the angu-

lar momentum vector is along the same direction as the angular

velocity vector.

Three important points are illustrated by this example: (1)

When we do the full three-dimensional treatment of angular mo-

mentum, the “axis” from which we measure the position vectors is

just an arbitrarily chosen point. If this had not been rigid-body

rotation, we would not even have been able to identify a single line

about which every atom circled. (2) Starting from ﬁgure f, we had

to rearrange the vectors to get them tail-to-tail before applying the

right-hand rule. If we had attempted to apply the right-hand rule

to ﬁgure f, the direction of the result would have been exactly the

opposite of the correct answer. (3) The equation L = r p cannot

be applied all at once to an entire system of particles. The total

270 Chapter 4 Conservation of Angular Momentum

h / A top is supported at its

tip by a pinhead. (More practical

devices to demonstrate this

would use a double bearing.)

i / The torque made by grav-

ity is in the horizontal plane.

j / The ∆L vector is in the

same direction as the torque, out

of the page.

momentum of the top is zero, which would give an erroneous result

of zero angular momentum (never mind the fact that r is not well

deﬁned for the top as a whole).

Doing the right-hand rule like this requires some practice. I

urge you to make models like g out of rolled up pieces of paper and

to practice with the model in various orientations until it becomes

natural.

Precession example 25

Figure h shows a counterintuitive example of the concepts we’ve

been discussing. One expects the torque due to gravity to cause

the top to ﬂop down. Instead, the top remains spinning in the hor-

izontal plane, but its axis of rotation starts moving in the direction

shown by the shaded arrow. This phenomenon is called preces-

sion. Figure i shows that the torque due to gravity is out of the

page. (Actually we should add up all the torques on all the atoms

in the top, but the qualitative result is the same.) Since torque

is the rate of change of angular momentum, τ = dL´dt , the ∆L

vector must be in the same direction as the torque (division by

a positive scalar doesn’t change the direction of the vector). As

shown in j, this causes the angular momentum vector to twist in

space without changing its magnitude.

For similar reasons, the Earth’s axis precesses once every 26,000

years (although not through a great circle, since the angle between

the axis and the force isn’t 90 degrees as in ﬁgure h). This pre-

cession is due to a torque exerted by the moon. If the Earth was

a perfect sphere, there could be no precession eﬀect due to sym-

metry. However, the Earth’s own rotation causes it to be slightly

ﬂattened (oblate) relative to a perfect sphere, giving it “love han-

dles” on which the moon’s gravity can act. The moon’s gravity on

the nearer side of the equatorial bulge is stronger, so the torques do

not cancel out perfectly. Presently the earth’s axis very nearly lines

up with the star Polaris, but in 12,000 years, the pole star will be

Vega instead.

The frisbee example 26

The ﬂow of the air over a ﬂying frisbee generates lift, and the lift

at the front and back of the frisbee isn’t necessarily balanced. If

you throw a frisbee without rotating it, as if you were shooting a

basketball with two hands, you’ll ﬁnd that it pitches, i.e., its nose

goes either up or down. When I do this with my frisbee, it goes

nose down, which apparently means that the lift at the back of

the disc is greater than the lift at the front. The two torques are

unbalanced, resulting in a total torque that points to the left.

The way you actually throw a frisbee is with one hand, putting a

lot of spin on it. If you throw backhand, which is how most peo-

ple ﬁrst learn to do it, the angular momentum vector points down

(assuming you’re right-handed). On my frisbee, the aerodynamic

Section 4.3 Angular Momentum in Three Dimensions 271

k / Example 27.

torque to the left would therefore tend to make the angular mo-

mentum vector precess in the clockwise direction as seen by the

thrower. This would cause the disc to roll to the right, and there-

fore follow a curved trajectory. Some specialized discs, used in

the sport of disc golf, are actually designed intentionally to show

this behavior; they’re known as “understable” discs. However, the

typical frisbee that most people play with is designed to be stable:

as the disc rolls to one side, the airﬂow around it is altered in way

that tends to bring the disc back into level ﬂight. Such a disc will

therefore tend to ﬂy in a straight line, provided that it is thrown

with enough angular momentum.

Finding a cross product by components example 27

> What is the torque produced by a force given by ˆ x + 2ˆ y + 3ˆ z (in

units of Newtons) acting on a point whose radius vector is 4ˆ x+2ˆ y

(in meters)?

> It’s helpful to make a table of the components as shown in the

ﬁgure. The results are

τ

x

= r

y

F

z

−F

y

r

z

= 15 Nm

τ

y

= r

z

F

x

−F

z

r

x

=−12 Nm

τ

z

= r

x

F

y

−F

x

r

y

= 3 Nm

Torque and angular momentum example 28

In this example, we prove explicitly the consistency of the equa-

tions involving torque and angular momentum that we proved

above based purely on symmetry. Starting from the deﬁnition of

torque, we have

τ =

dL

dt

=

d

dt

¸

i

r

i

p

i

=

¸

i

d

dt

(r

i

p

i

) .

The derivative of a cross product can be evaluated in the same

was as the derivative of an ordinary scalar product:

τ =

¸

i

¸

dr

i

dt

p

i

+

r

i

dp

i

dt

**The ﬁrst term is zero for each particle, since the velocity vector is
**

parallel to the momentum vector. The derivative appearing in the

second term is the force acting on the particle, so

τ =

¸

i

r

i

F

i

,

which is the relationship we set out to prove.

272 Chapter 4 Conservation of Angular Momentum

4.3.3 Rigid-body dynamics in three dimensions

The student who is not madly in love with mathematics may

wish to skip the rest of this section after absorbing the statement

that, for a typical, asymmetric object, the angular momentum vector

and the angular velocity vector need not be parallel. That is, only

for a body that possesses symmetry about the rotation axis is it true

that L = 1ω (the rotational equivalent of p = :v) for some scalar

1.

Let’s evaluate the angular momentum of a rigidly rotating sys-

tem of particles:

L =

¸

i

r

i

p

i

=

¸

i

:

i

r

i

v

i

=

¸

i

:

i

r

i

(ω r

i

)

An important mathematical skill is to know when to give up and

back oﬀ. This is a complicated expression, and there is no reason

to expect it to simplify and, for example, take the form of a scalar

multiplied by ω. Instead we examine its general characteristics. If

we expanded it using the equation that gives the components of a

vector cross product, every term would have one of the ω compo-

nents raised to the ﬁrst power, multiplied by a bunch of other stuﬀ.

The most general possible form for the result is

1

x

= 1

xx

ω

x

+ 1

xy

ω

y

+ 1

xz

ω

z

1

y

= 1

yx

ω

x

+ 1

yy

ω

y

+ 1

yz

ω

z

1

z

= 1

zx

ω

x

+ 1

zy

ω

y

+ 1

zz

ω

z

,

which you may recognize as a case of matrix multiplication. The

moment of inertia is not a scalar, and not a three-component vector.

It is a matrix speciﬁed by nine numbers, called its matrix elements.

The elements of the moment of inertia matrix will depend on our

choice of a coordinate system. In general, there will be some special

coordinate system, in which the matrix has a simple diagonal form:

1

x

= 1

xx

ω

x

1

y

= 1

yy

ω

y

1

z

= 1

zz

ω

z

.

The three special axes that cause this simpliﬁcation are called

the principal axes of the object, and the corresponding coordinate

system is the principal axis system. For symmetric shapes such as

a rectangular box or an ellipsoid, the principal axes lie along the

intersections of the three symmetry planes, but even an asymmetric

body has principal axes.

Section 4.3 Angular Momentum in Three Dimensions 273

We can also generalize the plane-rotation equation 1 = (1´2)1ω

2

to three dimensions as follows:

1 =

¸

i

1

2

:

i

·

2

i

=

1

2

¸

i

:

i

(ω r

i

) (ω r

i

)

We want an equation involving the moment of inertia, and this has

some evident similarities to the sum we originally wrote down for

the moment of inertia. To massage it into the right shape, we need

the vector identity (AB)C = (BC)A, which we state without

proof. We then write

1 =

1

2

¸

i

:

i

[r

i

(ω r

i

)] ω

=

1

2

ω

¸

i

:

i

r

i

(ω r

i

)

=

1

2

L ω

As a reward for all this hard work, let’s analyze the problem of

the spinning shoe that I posed at the beginning of the chapter. The

three rotation axes referred to there are approximately the principal

axes of the shoe. While the shoe is in the air, no external torques are

acting on it, so its angular momentum vector must be constant in

magnitude and direction. Its kinetic energy is also constant. That’s

in the room’s frame of reference, however. The principal axis frame

is attached to the shoe, and tumbles madly along with it. In the

principal axis frame, the kinetic energy and the magnitude of the

angular momentum stay constant, but the actual direction of the

angular momentum need not stay ﬁxed (as you saw in the case

of rotation that was initially about the intermediate-length axis).

Constant [L[ gives

1

2

x

+ 1

2

y

+ 1

2

z

= constant .

In the principal axis frame, it’s easy to solve for the components

of ω in terms of the components of L, so we eliminate ω from the

expression 21 = L ω, giving

1

1

xx

1

2

x

+

1

1

yy

1

2

y

+

1

1

zz

1

2

z

= constant #2.

The ﬁrst equation is the equation of a sphere in the three di-

mensional space occupied by the angular momentum vector, while

the second one is the equation of an ellipsoid. The top ﬁgure cor-

responds to the case of rotation about the shortest axis, which has

the greatest moment of inertia element. The intersection of the two

274 Chapter 4 Conservation of Angular Momentum

m / The Explorer I satellite.

l / Visualizing surfaces of

constant energy and angular

momentum in L

x

-L

y

-L

z

space.

surfaces consists only of the two points at the front and back of the

sphere. The angular momentum is conﬁned to one of these points,

and can’t change its direction, i.e., its orientation with respect to the

principal axis system, which is another way of saying that the shoe

can’t change its orientation with respect to the angular momentum

vector. In the bottom ﬁgure, the shoe is rotating about the longest

axis. Now the angular momentum vector is trapped at one of the

two points on the right or left. In the case of rotation about the

axis with the intermediate moment of inertia element, however, the

intersection of the sphere and the ellipsoid is not just a pair of iso-

lated points but the curve shown with the dashed line. The relative

orientation of the shoe and the angular momentum vector can and

will change.

One application of the moment of inertia tensor is to video games

that simulate car racing or ﬂying airplanes.

One more exotic example has to do with nuclear physics. Al-

though you have probably visualized atomic nuclei as nothing more

than featureless points, or perhaps tiny spheres, they are often el-

lipsoids with one long axis and two shorter, equal ones. Although

a spinning nucleus normally gets rid of its angular momentum via

gamma ray emission within a period of time on the order of picosec-

onds, it may happen that a deformed nucleus gets into a state in

which has a large angular momentum is along its long axis, which

is a very stable mode of rotation. Such states can live for seconds

or even years! (There is more to the story — this is the topic on

which I wrote my Ph.D. thesis — but the basic insight applies even

though the full treatment requires fancy quantum mechanics.)

Our analysis has so far assumed that the kinetic energy of ro-

tation energy can’t be converted into other forms of energy such as

heat, sound, or vibration. When this assumption fails, then rota-

tion about the axis of least moment of inertia becomes unstable,

and will eventually convert itself into rotation about the axis whose

moment of inertia is greatest. This happened to the U.S.’s ﬁrst ar-

tiﬁcial satellite, Explorer I, launched in 1958. Note the long, ﬂoppy

antennas, which tended to dissipare kinetic energy into vibration. It

had been designed to spin about its minimimum-moment-of-inertia

axis, but almost immediately, as soon as it was in space, it began

spinning end over end. It was nevertheless able to carry out its

science mission, which didn’t depend on being able to maintain a

stable orientation, and it discovered the Van Allen radiation belts.

This chapter is summarized on page 886. Notation and terminology

are tabulated on pages 877-878.

Section 4.3 Angular Momentum in Three Dimensions 275

Problem 1.

Problem 6.

Problem 8.

Problems

The symbols

√

, , etc. are explained on page 282.

1 The ﬁgure shows scale drawing of a pair of pliers being

used to crack a nut, with an appropriately reduced centimeter grid.

Warning: do not attempt this at home; it is bad manners. If the

force required to crack the nut is 300 N, estimate the force required

of the person’s hand. > Solution, p. 873

2 You are trying to loosen a stuck bolt on your RV using a big

wrench that is 50 cm long. If you hang from the wrench, and your

mass is 55 kg, what is the maximum torque you can exert on the

bolt?

√

3 A physical therapist wants her patient to rehabilitate his in-

jured elbow by laying his arm ﬂat on a table, and then lifting a 2.1

kg mass by bending his elbow. In this situation, the weight is 33

cm from his elbow. He calls her back, complaining that it hurts him

to grasp the weight. He asks if he can strap a bigger weight onto

his arm, only 17 cm from his elbow. How much mass should she

tell him to use so that he will be exerting the same torque? (He is

raising his forearm itself, as well as the weight.)

√

4 An object thrown straight up in the air is momentarily at rest

when it reaches the top of its motion. Does that mean that it is in

equilibrium at that point? Explain.

5 An object is observed to have constant angular momentum.

Can you conclude that no torques are acting on it? Explain. [Based

on a problem by Serway and Faughn.]

6 A person of mass : stands on the ball of one foot. Find the

tension in the calf muscle and the force exerted by the shinbones

on the bones of the foot, in terms of :, o, o, and /. For simplicity,

assume that all the forces are at 90-degree angles to the foot, i.e.,

neglect the angle between the foot and the ﬂoor.

√

7 Two pointlike particles have the same momentum vector. Can

you conclude that their angular momenta are the same? Explain.

[Based on a problem by Serway and Faughn.]

8 The box shown in the ﬁgure is being accelerated by pulling on

it with the rope.

(a) Assume the ﬂoor is frictionless. What is the maximum force

that can be applied without causing the box to tip over?

√

(b) Repeat part a, but now let the coeﬃcient of friction be j.

√

(c) What happens to your answer to part b when the box is suﬃ-

ciently tall? How do you interpret this?

276 Chapter 4 Conservation of Angular Momentum

Problems 9 and 10.

Problem 11.

9 A uniform ladder of mass : and length / leans against a smooth

wall, making an angle θ with respect to the ground. The dirt exerts

a normal force and a frictional force on the ladder, producing a force

vector with magnitude 1

1

at an angle φ with respect to the ground.

Since the wall is smooth, it exerts only a normal force on the ladder;

let its magnitude be 1

2

.

(a) Explain why φ must be greater than θ. No math is needed.

(b) Choose any numerical values you like for : and /, and show that

the ladder can be in equilibrium (zero torque and zero total force

vector) for θ=45.00

◦

and φ=63.43

◦

.

10 Continuing problem 9, ﬁnd an equation for φ in terms of

θ, and show that : and 1 do not enter into the equation. Do not

assume any numerical values for any of the variables. You will need

the trig identity sin(o −/) = sin o cos / −sin / cos o. (As a numerical

check on your result, you may wish to check that the angles given

in problem 9b satisfy your equation.)

√

11 (a) Find the minimum horizontal force which, applied at

the axle, will pull a wheel over a step. Invent algebra symbols for

whatever quantities you ﬁnd to be relevant, and give your answer

in symbolic form.

(b) Under what circumstances does your result become inﬁnite?

Give a physical interpretation. What happens to your answer when

the height of the curb is zero? Does this make sense?

> Hint, p. 857

12 A ball is connected by a string to a vertical post. The ball is

set in horizontal motion so that it starts winding the string around

the post. Assume that the motion is conﬁned to a horizontal plane,

i.e., ignore gravity. Michelle and Astrid are trying to predict the

ﬁnal velocity of the ball when it reaches the post. Michelle says

that according to conservation of angular momentum, the ball has

to speed up as it approaches the post. Astrid says that according to

conservation of energy, the ball has to keep a constant speed. Who

is right? [Hint: How is this diﬀerent from the case where you whirl

a rock in a circle on a string and gradually pull in the string?]

13 In the 1950’s, serious articles began appearing in magazines

like Life predicting that world domination would be achieved by the

nation that could put nuclear bombs in orbiting space stations, from

which they could be dropped at will. In fact it can be quite diﬃcult

to get an orbiting object to come down. Let the object have energy

1 = 11 +11 and angular momentum 1. Assume that the energy

is negative, i.e., the object is moving at less than escape velocity.

Show that it can never reach a radius less than

:

min

=

G`:

21

−1 +

1 +

211

2

G

2

`

2

:

3

.

[Note that both factors are negative, giving a positive result.]

Problems 277

Problem 14.

Problem 15.

Problem 16.

Problem 17.

14 (a) The bar of mass : is attached at the wall with a hinge,

and is supported on the right by a massless cable. Find the tension,

T, in the cable in terms of the angle θ.

√

(b) Interpreting your answer to part a, what would be the best angle

to use if we wanted to minimize the strain on the cable?

(c) Again interpreting your answer to part a, for what angles does

the result misbehave mathematically? Interpet this physically.

15 (a) The two identical rods are attached to one another with

a hinge, and are supported by the two massless cables. Find the

angle α in terms of the angle β, and show that the result is a purely

geometric one, independent of the other variables involved.

√

(b) Using your answer to part a, sketch the conﬁgurations for β →0,

β = 45

◦

, and β = 90

◦

. Do your results make sense intuitively?

16 Two bars of length / are connected with a hinge and placed on

a frictionless cylinder of radius :. (a) Show that the angle θ shown

in the ﬁgure is related to the unitless ratio :´/ by the equation

:

/

=

cos

2

θ

2 tan θ

.

(b) Discuss the physical behavior of this equation for very large and

very small values of :´/.

17 You wish to determine the mass of a ship in a bottle without

taking it out. Show that this can be done with the setup shown in

the ﬁgure, with a scale supporting the bottle at one end, provided

that it is possible to take readings with the ship slid to two diﬀerent

locations.

18 Suppose that we lived in a universe in which Newton’s law

of gravity gave forces proportional to :

−7

rather than :

−2

. Which,

if any, of Kepler’s laws would still be true? Which would be com-

pletely false? Which would be diﬀerent, but in a way that could be

calculated with straightforward algebra?

19 Use analogies to ﬁnd the equivalents of the following equations

for rotation in a plane:

1 = j

2

´2:

∆r = ·

o

∆t + (1´2)o∆t

2

\ = 1∆r

Example: · = ∆r´∆t →ω = ∆θ´∆t

20 For a one-dimensional harmonic oscillator, the solution to

the energy conservation equation,

l + 1 =

1

2

/r

2

+

1

2

:·

2

= constant ,

is an oscillation with frequency ω =

/´:.

278 Chapter 4 Conservation of Angular Momentum

Problem 22.

Problem 23

Now consider an analogous system consisting of a bar magnet hung

from a thread, which acts like a magnetic compass. A normal com-

pass is full of water, so its oscillations are strongly damped, but

the magnet-on-a-thread compass has very little friction, and will os-

cillate repeatedly around its equilibrium direction. The magnetic

energy of the bar magnet is

l = −1:cos θ ,

where 1 is a constant that measures the strength of the earth’s

magnetic ﬁeld, : is a constant that parametrizes the strength of

the magnet, and θ is the angle, measured in radians, between the

bar magnet and magnetic north. The equilibrium occurs at θ = 0,

which is the minimum of l.

(a) For small θ, the magnetic energy can be approximated by l −

l

o

≈ (1´2)κθ

2

. Relate κ to the other quantities. (Assume the thread

is so thin that it does not have any signiﬁcant eﬀect compared to

earth’s magnetic ﬁeld.)

(b) Problem 19 gave some examples of how to construct analogies

between rotational and linear motion. Use a similar technique to

solve for the frequency of the compass’s vibrations, stating your

result in terms of the variables that will be relevant.

21 (a) Find the angular velocities of the earth’s rotation and of

the earth’s motion around the sun.

√

(b) Which motion involves the greater acceleration?

22 The sun turns on its axis once every 26.0 days. Its mass

is 2.0 10

30

kg and its radius is 7.0 10

8

m. Assume it is a rigid

sphere of uniform density.

(a) What is the sun’s angular momentum?

√

In a few billion years, astrophysicists predict that the sun will use

up all its sources of nuclear energy, and will collapse into a ball of

exotic, dense matter known as a white dwarf. Assume that its radius

becomes 5.8 10

6

m (similar to the size of the Earth.) Assume it

does not lose any mass between now and then. (Don’t be fooled by

the photo, which makes it look like nearly all of the star was thrown

oﬀ by the explosion. The visually prominent gas cloud is actually

thinner than the best laboratory vacuum every produced on earth.

Certainly a little bit of mass is actually lost, but it is not at all

unreasonable to make an approximation of zero loss of mass as we

are doing.)

(b) What will its angular momentum be?

(c) How long will it take to turn once on its axis?

√

23 Give a numerical comparison of the two molecules’ moments

of inertia for rotation in the plane of the page about their centers

of mass.

24 A yo-yo of total mass : consists of two solid cylinders

Problems 279

of radius 1, connected by a small spindle of negligible mass and

radius :. The top of the string is held motionless while the string

unrolls from the spindle. Show that the acceleration of the yo-yo is

o´(1 + 1

2

´2:

2

).

25 Show that a sphere of radius 1 that is rolling without slipping

has angular momentum and momentum in the ratio 1´j = (2´5)1.

26 Suppose a bowling ball is initially thrown so that it has no

angular momentum at all, i.e., it is initially just sliding down the

lane. Eventually kinetic friction will bring its angular velocity up to

the point where it is rolling without slipping. Show that the ﬁnal

velocity of the ball equals 5/7 of its initial velocity. You’ll need the

result of problem 25.

27 Find the angular momentum of a particle whose position is

r = 3ˆ x−ˆ y+ˆ z (in meters) and whose momentum is p = −2ˆ x+ˆ y+ˆ z

(in kgm´s).

28 Find a vector that is perpendicular to both of the following

two vectors:

ˆ x + 2ˆ y + 3ˆ z

4ˆ x + 5ˆ y + 6ˆ z

√

29 Prove property (3) of the vector cross product from the

theorem on page 848.

30 Prove the anticommutative property of the vector cross prod-

uct, AB = −BA, using the expressions for the components of

the cross product.

31 Find two vectors with which you can demonstrate that the

vector cross product need not be associative, i.e., that A(BC)

need not be the same as (AB) C.

32 Which of the following expressions make sense, and which are

nonsense? For those that make sense, indicate whether the result is

a vector or a scalar.

(a) (AB) C

(b) (AB) C

(c) (A B) C

33 Find the moment of inertia for rotation about its axis of a

cone whose mass is `, whose height is /, and whose base has a

radius /.

√

34 Find the moment of inertia of a solid rectangular box of mass

` and uniform density, whose sides are of length o, /, and c, for

rotation about an axis through its center parallel to the edges of

length o.

√

280 Chapter 4 Conservation of Angular Momentum

35 The nucleus

168

Er (erbium-168) contains 68 protons (which

is what makes it a nucleus of the element erbium) and 100 neutrons.

It has an ellipsoidal shape like an American football, with one long

axis and two short axes that are of equal diameter. Because this

is a subatomic system, consisting of only 168 particles, its behavior

shows some clear quantum-mechanical properties. It can only have

certain energy levels, and it makes quantum leaps between these

levels. Also, its angular momentum can only have certain values,

which are all multiples of 2.109 10

−34

kg m

2

´s. The table shows

some of the observed angular momenta and energies of

168

Er, in SI

units (kg m

2

´s and joules).

1 10

34

1 10

14

0 0

2.109 1.2786

4.218 4.2311

6.327 8.7919

8.437 14.8731

10.546 22.3798

12.655 31.135

14.764 41.206

16.873 52.223

(a) These data can be described to a good approximation as a rigid

end-over-end rotation. Estimate a single best-ﬁt value for the mo-

ment of inertia from the data, and check how well the data agree

with the assumption of rigid-body rotation.

(b) Check whether this moment of inertia is on the right order of

magnitude. The moment of inertia depends on both the size and

the shape of the nucleus. For the sake of this rough check, ignore

the fact that the nucleus is not quite spherical. To estimate its size,

use the fact that a neutron or proton has a volume of about 1 fm

3

(one cubic femtometer, where 1 fm = 10

−15

m), and assume they

are closely packed in the nucleus. > Hint, p. 857

√

36 (a) Prove the identity a (b c) = b(a c) − c(a b)

by expanding the product in terms of its components. Note that

because the r, n, and . components are treated symmetrically in

the deﬁnitions of the vector and cross product, it is only necessary

to carry out the proof for the r component of the result.

(b) Applying this to the angular momentum of a rigidly rotating

body, 1 =

r (ω r) d:, show that the diagonal elements of the

moment of inertia tensor can be expressed as, e.g., 1

xx

=

(n

2

+

.

2

)d:.

(c) Find the diagonal elements of the moment of inertia matrix of

an ellipsoid with axes of lengths o, /, and c, in the principal-axis

frame, and with the axis at the center.

√

Problems 281

37 In example 22 on page 264, prove that if the rod is suﬃciently

thin, it can be toppled without scraping on the ﬂoor.

> Solution, p. 873

38 Suppose an object has mass :, and moment of inertia 1

o

for rotation about some axis A passing through its center of mass.

Prove that for an axis B, parallel to A and lying at a distance /

from it, the object’s moment of inertia is given by 1

o

+ :/

2

. This

is known as the parallel axis theorem.

39 Let two sides of a triangle be given by the vectors A and

B, with their tails at the origin, and let mass : be uniformly dis-

tributed on the interior of the triangle. (a) Show that the distance

of the triangle’s center of mass from the intersection of sides A and

B is given by

1

3

[A+B[.

(b) Consider the quadrilateral with mass 2:, and vertices at the

origin, A, B, and A + B. Show that its moment of inertia, for

rotation about an axis perpendicular to it and passing through its

center of mass, is

m

6

(¹

2

+ 1

2

).

(c) Show that the moment of inertia for rotation about an axis per-

pendicular to the plane of the original triangle, and passing through

its center of mass, is

m

18

(¹

2

+1

2

−A B). Hint: Combine the results

of parts a and b with the result of problem 38.

40 When we talk about rigid-body rotation, the concept of

a perfectly rigid body can only be an idealization. In reality, any

object will compress, expand, or deform to some extent when sub-

jected to the strain of rotation. However, if we let it settle down for

a while, perhaps it will reach a new equilibrium. As an example,

suppose we ﬁll a centrifuge tube with some compressible substance

like shaving cream or Wonder Bread. We can model the contents of

the tube as a one-dimensional line of mass, extending from : = 0 to

: = /. Once the rotation starts, we expect that the contents will be

most compressed near the “ﬂoor” of the tube at : = /; this is both

because the inward force required for circular motion increases with

: for a ﬁxed ω, and because the part at the ﬂoor has the greatest

amount of material pressing “down” (actually outward) on it. The

linear density d:´d:, in units of kg/m, should therefore increase as

a function of :. Suppose that we have d:´d: = jc

r/

, where j is a

constant. Find the moment of inertia.

√

Key to symbols:

easy typical challenging diﬃcult very diﬃcult

√

An answer check is available at www.lightandmatter.com.

282 Chapter 4 Conservation of Angular Momentum

Exercises

Exercise 4A: Torque

Equipment:

• rulers with holes in them

• spring scales (two per group)

While one person holds the pencil which forms the axle for the ruler, the other members of the

group pull on the scale and take readings. In each case, calculate the total torque on the ruler,

and ﬁnd out whether it equals zero to roughly within the accuracy of the experiment.

Exercises 283

284 Chapter 4 Conservation of Angular Momentum

Chapter 5

Thermodynamics

o = / log \

Inscription on the tomb of Ludwig Boltzmann, 1844-1906.

Boltzmann, who originated the microscopic theory of thermo-

dynamics, was driven to suicide by the criticism of his peers,

who thought that physical theories shouldn’t discuss purely hy-

pothetical objects like atoms.

In a developing country like China, a refrigerator is the mark of

a family that has arrived in the middle class, and a car is the ulti-

mate symbol of wealth. Both of these are heat engines: devices for

converting between heat and other forms of energy. Unfortunately

for the Chinese, neither is a very eﬃcient device. Burning fossil fuels

has made China’s big cities the most polluted on the planet, and

the country’s total energy supply isn’t suﬃcient to support Amer-

ican levels of energy consumption by more than a small fraction

of China’s population. Could we somehow manipulate energy in a

more eﬃcient way?

Conservation of energy is a statement that the total amount of

energy is constant at all times, which encourages us to believe that

any energy transformation can be undone — indeed, the laws of

physics you’ve learned so far don’t even distinguish the past from

the future. If you get in a car and drive around the block, the

net eﬀect is to consume some of the energy you paid for at the

gas station, using it to heat the neighborhood. There would not

seem to be any fundamental physical principle to prevent you from

recapturing all that heat and using it again the next time you want

to go for a drive. More modestly, why don’t engineers design a car

engine so that it recaptures the heat energy that would otherwise

be wasted via the radiator and the exhaust?

Hard experience, however, has shown that designers of more and

more eﬃcient engines run into a brick wall at a certain point. The

generators that the electric company uses to produce energy at an

oil-fueled plant are indeed much more eﬃcient than a car engine, but

even if one is willing to accept a device that is very large, expensive,

and complex, it turns out to be impossible to make a perfectly eﬃ-

cient heat engine — not just impossible with present-day technology,

but impossible due to a set of fundamental physical principles known

as the science of thermodynamics. And thermodynamics isn’t just a

285

pesky set of constraints on heat engines. Without thermodynamics,

there is no way to explain the direction of time’s arrow — why we

can remember the past but not the future, and why it’s easier to

break Humpty Dumpty than to put him back together again.

5.1 Pressure and Temperature

When we heat an object, we speed up the mind-bogglingly complex

random motion of its molecules. One method for taming complexity

is the conservation laws, since they tell us that certain things must

remain constant regardless of what process is going on. Indeed,

the law of conservation of energy is also known as the ﬁrst law of

thermodynamics.

But as alluded to in the introduction to this chapter, conserva-

tion of energy by itself is not powerful enough to explain certain

empirical facts about heat. A second way to sidestep the complex-

ity of heat is to ignore heat’s atomic nature and concentrate on

quantities like temperature and pressure that tell us about a sys-

tem’s properties as a whole. This approach is called macroscopic in

contrast to the microscopic method of attack. Pressure and temper-

ature were fairly well understood in the age of Newton and Galileo,

hundreds of years before there was any ﬁrm evidence that atoms

and molecules even existed.

Unlike the conserved quantities such as mass, energy, momen-

tum, and angular momentum, neither pressure nor temperature is

additive. Two cups of coﬀee have twice the heat energy of a single

cup, but they do not have twice the temperature. Likewise, the

painful pressure on your eardrums at the bottom of a pool is not

aﬀected if you insert or remove a partition between the two halves

of the pool.

We restrict ourselves to a discussion of pressure in ﬂuids at rest

and in equilibrium. In physics, the term “ﬂuid” is used to mean

either a gas or a liquid. The important feature of a ﬂuid can be

demonstrated by comparing with a cube of jello on a plate. The

jello is a solid. If you shake the plate from side to side, the jello will

respond by shearing, i.e., by slanting its sides, but it will tend to

spring back into its original shape. A solid can sustain shear forces,

but a ﬂuid cannot. A ﬂuid does not resist a change in shape unless

it involves a change in volume.

5.1.1 Pressure

If you’re at the bottom of a pool, you can’t relieve the pain in

your ears by turning your head. The water’s force on your eardrum

is always the same, and is always perpendicular to the surface where

the eardrum contacts the water. If your ear is on the east side of

your head, the water’s force is to the west. If you keep your ear

in the same spot while turning around so your ear is on the north,

286 Chapter 5 Thermodynamics

a / A simple pressure gauge

consists of a cylinder open at one

end, with a piston and a spring

inside. The depth to which the

spring is depressed is a measure

of the pressure. To determine the

absolute pressure, the air needs

to be pumped out of the interior of

the gauge, so that there is no air

pressure acting outward on the

piston. In many practical gauges,

the back of the piston is open to

the atmosphere, so the pressure

the gauge registers equals the

pressure of the ﬂuid minus the

pressure of the atmosphere.

the force will still be the same in magnitude, and it will change

its direction so that it is still perpendicular to the eardrum: south.

This shows that pressure has no direction in space, i.e., it is a scalar.

The direction of the force is determined by the orientation of the

surface on which the pressure acts, not by the pressure itself. A

ﬂuid ﬂowing over a surface can also exert frictional forces, which

are parallel to the surface, but the present discussion is restricted

to ﬂuids at rest.

Experiments also show that a ﬂuid’s force on a surface is pro-

portional to the surface area. The vast force of the water behind

a dam, for example, in proportion to the dam’s great surface area.

(The bottom of the dam experiences a higher proportion of its force.)

Based on these experimental results, it appears that the useful

way to deﬁne pressure is as follows. The pressure of a ﬂuid at a

given point is deﬁned as 1

⊥

´¹, where ¹ is the area of a small surface

inserted in the ﬂuid at that point, and 1

⊥

is the component of the

ﬂuid’s force on the surface which is perpendicular to the surface. (In

the case of a moving ﬂuid, ﬂuid friction forces can act parallel to

the surface, but we’re only dealing with stationary ﬂuids, so there

is only an 1

⊥

.)

This is essentially how a pressure gauge works. The reason that

the surface must be small is so that there will not be any signiﬁcant

diﬀerent in pressure between one part of it and another part. The SI

units of pressure are evidently N´m

2

, and this combination can be

abbreviated as the pascal, 1 Pa=1 N´m

2

. The pascal turns out to

be an inconveniently small unit, so car tires, for example, normally

have pressures imprinted on them in units of kilopascals.

Pressure in U.S. units example 1

In U.S. units, the unit of force is the pound, and the unit of distance

is the inch. The unit of pressure is therefore pounds per square

inch, or p.s.i. (Note that the pound is not a unit of mass.)

Atmospheric pressure in U.S. and metric units example 2

> A ﬁgure that many people in the U.S. remember is that atmo-

spheric pressure is about 15 pounds per square inch. What is

this in metric units? Solution:

(15 lb)´(1 in

2

) = 1.0 10

5

N´m

2

= 100 kPa

Only pressure diﬀerences are normally signiﬁcant.

If you spend enough time on an airplane, the pain in your ears

subsides. This is because your body has gradually been able to ad-

mit more air into the cavity behind the eardrum. Once the pressure

inside is equalized with the pressure outside, the inward and out-

ward forces on your eardrums cancel out, and there is no physical

Section 5.1 Pressure and Temperature 287

sensation to tell you that anything unusual is going on. For this

reason, it is normally only pressure diﬀerences that have any phys-

ical signiﬁcance. Thus deep-sea ﬁsh are perfectly healthy in their

habitat because their bodies have enough internal pressure to cancel

the pressure from the water in which they live; if they are caught in

a net and brought to the surface rapidly, they explode because their

internal pressure is so much greater than the low pressure outside.

Getting killed by a pool pump example 3

> My house has a pool, which I maintain myself. A pool always

needs to have its water circulated through a ﬁlter for several hours

a day in order to keep it clean. The ﬁlter is a large barrel with a

strong clamp that holds the top and bottom halves together. My

ﬁlter has a prominent warning label that warns me not to try to

open the clamps while the pump is on, and it shows a cartoon

of a person being struck by the top half of the pump. The cross-

sectional area of the ﬁlter barrel is 0.25 m

2

. Like most pressure

gauges, the one on my pool pump actually reads the difference in

pressure between the pressure inside the pump and atmospheric

pressure. The gauge reads 90 kPa. What is the force that is

trying to pop open the ﬁlter?

> If the gauge told us the absolute pressure of the water inside,

we’d have to ﬁnd the force of the water pushing outward and the

force of the air pushing inward, and subtract in order to ﬁnd the

total force. Since air surrounds us all the time, we would have to

do such a subtraction every time we wanted to calculate anything

useful based on the gauge’s reading. The manufacturers of the

gauge decided to save us from all this work by making it read the

difference in pressure between inside and outside, so all we have

to do is multiply the gauge reading by the cross-sectional area of

the ﬁlter:

F = PA

= (90 10

3

N´m

2

)(0.25 m

2

)

= 22000 N

That’s a lot of force!

The word “suction” and other related words contain a hidden

misunderstanding related to this point about pressure diﬀerences.

When you suck water up through a straw, there is nothing in your

mouth that is attracting the water upward. The force that lifts the

water is from the pressure of the water in the cup. By creating a

partial vacuum in your mouth, you decreased the air’s downward

force on the water so that it no longer exactly canceled the upward

force.

Variation of pressure with depth

The pressure within a ﬂuid in equilibrium can only depend on

depth, due to gravity. If the pressure could vary from side to side,

288 Chapter 5 Thermodynamics

b / This doesn’t happen. If

pressure could vary horizontally

in equilibrium, the cube of water

would accelerate horizontally.

This is a contradiction, since

we assumed the ﬂuid was in

equilibrium.

c / The pressure is the same

at all the points marked with dots.

d / This does happen. The

sum of the forces from the

surrounding parts of the ﬂuid is

upward, canceling the downward

force of gravity.

then a piece of the ﬂuid in between, b, would be subject to unequal

forces from the parts of the ﬂuid on its two sides. Since ﬂuids do not

exhibit shear forces, there would be no other force that could keep

this piece of ﬂuid from accelerating. This contradicts the assumption

that the ﬂuid was in equilibrium.

self-check A

How does this proof fail for solids? > Answer, p. 861

To ﬁnd the variation with depth, we consider the vertical forces

acting on a tiny, imaginary cube of the ﬂuid having inﬁnitesimal

height dn and areas d¹ on the top and bottom. Using positive

numbers for upward forces, we have

1

bottom

d¹−1

top

d¹−1

g

= 0 .

The weight of the ﬂuid is 1

g

= :o = ρ\ o = ρ d¹dn o, where ρ is

the density of the ﬂuid, so the diﬀerence in pressure is

d1 = −ρodn . [variation in pressure with depth for

a ﬂuid of density ρ in equilibrium;

positive n is up.]

A more elegant way of writing this is in terms of a dot product,

d1 = ρg dy, which automatically takes care of the plus or minus

sign, depending on the relative directions of the g and dy vectors,

and avoids any requirements about the coordinate system.

The factor of ρ explains why we notice the diﬀerence in pressure

when diving 3 m down in a pool, but not when going down 3 m of

stairs. The equation only tells us the diﬀerence in pressure, not the

absolute pressure. The pressure at the surface of a swimming pool

equals the atmospheric pressure, not zero, even though the depth is

zero at the surface. The blood in your body does not even have an

upper surface.

In cases where o and ρ are independent of depth, we can inte-

grate both sides of the equation to get everything in terms of ﬁnite

diﬀerences rather than diﬀerentials: ∆1 = −ρo∆n.

self-check B

In which of the following situations is the equation ∆P = −ρg∆y valid?

Why?

(1) difference in pressure between a tabletop and the feet (i.e., predict-

ing the pressure of the feet on the ﬂoor)

(2) difference in air pressure between the top and bottom of a tall build-

ing

(3) difference in air pressure between the top and bottom of Mt. Everest

(4) difference in pressure between the top of the earth’s mantle and the

center of the earth

(5) difference in pressure between the top and bottom of an airplane’s

wing > Answer, p. 861

Section 5.1 Pressure and Temperature 289

e / We have to wait for the

thermometer to equilibrate its

temperature with the temperature

of Irene’s armpit.

Pressure of lava underneath a volcano example 4

> A volcano has just ﬁnished erupting, and a pool of molten lava

is lying at rest in the crater. The lava has come up through an

opening inside the volcano that connects to the earth’s molten

mantle. The density of the lava is 4.1 g´cm

3

. What is the pressure

in the lava underneath the base of the volcano, 3000 m below the

surface of the pool?

>

∆P = ρg∆y

= (4.1 g´cm

3

)(9.8 m´s

2

)(3000 m)

= (4.1 10

6

g´m

3

)(9.8 m´s

2

)(3000 m)

= (4.1 10

3

kg´m

3

)(9.8 m´s

2

)(3000 m)

= 1.2 10

8

N´m

2

= 1.2 10

8

Pa

This is the difference between the pressure we want to ﬁnd and

atmospheric pressure at the surface. The latter, however, is tiny

compared to the ∆P we just calculated, so what we’ve found is

essentially the pressure, P.

Atmospheric pressure example 5

Gases, unlike liquids, are quite compressible, and at a given tem-

perature, the density of a gas is approximately proportional to the

pressure. The proportionality constant is discussed on page 294,

but for now let’s just call it k, ρ = kP. Using this fact, we can

ﬁnd the variation of atmospheric pressure with altitude, assuming

constant temperature:

dP = −ρg dy

dP = −kPg dy

dP

P

= −kg dy

ln P = −kgy + constant [integrating both sides]

P = (constant)e

−kgy

[exponentiating both sides]

Pressure falls off exponentially with height. There is no sharp

cutoff to the atmosphere, but the exponential gets extremely small

by the time you’re ten or a hundred miles up.

5.1.2 Temperature

Thermal equilibrium

We use the term temperature casually, but what is it exactly?

Roughly speaking, temperature is a measure of how concentrated

the heat energy is in an object. A large, massive object with very

little heat energy in it has a low temperature.

290 Chapter 5 Thermodynamics

f / Thermal equilibrium can

be prevented. Otters have a coat

of fur that traps air bubbles for in-

sulation. If a swimming otter was

in thermal equilibrium with cold

water, it would be dead. Heat is

still conducted from the otter’s

body to the water, but much

more slowly than it would be in a

warm-blooded animal that didn’t

have this special adaptation.

g / A hot air balloon is inﬂated.

Because of thermal expansion,

the hot air is less dense than

the surrounding cold air, and

therefore ﬂoats as the cold air

drops underneath it and pushes it

up out of the way.

But physics deals with operational deﬁnitions, i.e., deﬁnitions of

how to measure the thing in question. How do we measure temper-

ature? One common feature of all temperature-measuring devices

is that they must be left for a while in contact with the thing whose

temperature is being measured. When you take your temperature

with a fever thermometer, you are waiting for the mercury inside to

come up to the same temperature as your body. The thermometer

actually tells you the temperature of its own working ﬂuid (in this

case the mercury). In general, the idea of temperature depends on

the concept of thermal equilibrium. When you mix cold eggs from

the refrigerator with ﬂour that has been at room temperature, they

rapidly reach a compromise temperature. What determines this

compromise temperature is conservation of energy, and the amount

of energy required to heat or cool each substance by one degree.

But without even having constructed a temperature scale, we can

see that the important point is the phenomenon of thermal equi-

librium itself: two objects left in contact will approach the same

temperature. We also assume that if object A is at the same tem-

perature as object B, and B is at the same temperature as C, then

A is at the same temperature as C. This statement is sometimes

known as the zeroth law of thermodynamics, so called because after

the ﬁrst, second, and third laws had been developed, it was realized

that there was another law that was even more fundamental.

Thermal expansion

The familiar mercury thermometer operates on the principle that

the mercury, its working ﬂuid, expands when heated and contracts

when cooled. In general, all substances expand and contract with

changes in temperature. The zeroth law of thermodynamics guar-

antees that we can construct a comparative scale of temperatures

that is independent of what type of thermometer we use. If a ther-

mometer gives a certain reading when it’s in thermal equilibrium

with object A, and also gives the same reading for object B, then

A and B must be the same temperature, regardless of the details of

how the thermometers works.

What about constructing a temperature scale in which every

degree represents an equal step in temperature? The Celsius scale

has 0 as the freezing point of water and 100 as its boiling point. The

hidden assumption behind all this is that since two points deﬁne a

line, any two thermometers that agree at two points must agree at

all other points. In reality if we calibrate a mercury thermometer

and an alcohol thermometer in this way, we will ﬁnd that a graph

of one thermometer’s reading versus the other is not a perfectly

straight n = r line. The subtle inconsistency becomes a drastic one

when we try to extend the temperature scale through the points

where mercury and alcohol boil or freeze. Gases, however, are much

more consistent among themselves in their thermal expansion than

solids or liquids, and the noble gases like helium and neon are more

Section 5.1 Pressure and Temperature 291

h / A simpliﬁed version of an

ideal gas thermometer. The

whole instrument is allowed to

come into thermal equilibrium

with the substance whose tem-

perature is to be measured, and

the mouth of the cylinder is left

open to standard pressure. The

volume of the noble gas gives an

indication of temperature.

i / The volume of 1 kg of neon

gas as a function of temperature

(at standard pressure). Although

neon would actually condense

into a liquid at some point,

extrapolating the graph gives

to zero volume gives the same

temperature as for any other gas:

absolute zero.

consistent with each other than gases in general. Continuing to

search for consistency, we ﬁnd that noble gases are more consistent

with each other when their pressure is very low.

As an idealization, we imagine a gas in which the atoms interact

only with the sides of the container, not with each other. Such a

gas is perfectly nonreactive (as the noble gases very nearly are), and

never condenses to a liquid (as the noble gases do only at extremely

low temperatures). Its atoms take up a negligible fraction of the

available volume. Any gas can be made to behave very much like

this if the pressure is extremely low, so that the atoms hardly ever

encounter each other. Such a gas is called an ideal gas, and we deﬁne

the Celsius scale in terms of the volume of the gas in a thermometer

whose working substance is an ideal gas maintained at a ﬁxed (very

low) pressure, and which is calibrated at 0 and 100 degrees according

to the melting and boiling points of water. The Celsius scale is not

just a comparative scale but an additive one as well: every step in

temperature is equal, and it makes sense to say that the diﬀerence

in temperature between 18 and 28

◦

C is the same as the diﬀerence

between 48 and 58.

Absolute zero and the kelvin scale

We ﬁnd that if we extrapolate a graph of volume versus tem-

perature, the volume becomes zero at nearly the same temperature

for all gases: -273

◦

C. Real gases will all condense into liquids at

some temperature above this, but an ideal gas would achieve zero

volume at this temperature, known as absolute zero. The most use-

ful temperature scale in scientiﬁc work is one whose zero is deﬁned

by absolute zero, rather than by some arbitrary standard like the

melting point of water. The temperature scale used universally in

scientiﬁc work, called the Kelvin scale, is the same as the Celsius

scale, but shifted by 273 degrees to make its zero coincide with ab-

solute zero. Scientists use the Celsius scale only for comparisons or

when a change in temperature is all that is required for a calcula-

tion. Only on the Kelvin scale does it make sense to discuss ratios

of temperatures, e.g., to say that one temperature is twice as hot as

another.

Which temperature scale to use example 6

> You open an astronomy book and encounter the equation

(light emitted) = (constant) T

4

for the light emitted by a star as a function of its surface tempera-

ture. What temperature scale is implied?

> The equation tells us that doubling the temperature results in

the emission of 16 times as much light. Such a ratio only makes

sense if the Kelvin scale is used.

Although we can achieve as good an approximation to an ideal

gas as we wish by making the pressure very low, it seems never-

292 Chapter 5 Thermodynamics

theless that there should be some more fundamental way to deﬁne

temperature. We will construct a more fundamental scale of tem-

perature in section 5.4.

5.2 Microscopic Description of an Ideal Gas

5.2.1 Evidence for the kinetic theory

Why does matter have the thermal properties it does? The basic

answer must come from the fact that matter is made of atoms. How,

then, do the atoms give rise to the bulk properties we observe?

Gases, whose thermal properties are so simple, oﬀer the best chance

for us to construct a simple connection between the microscopic and

macroscopic worlds.

A crucial observation is that although solids and liquids are

nearly incompressible, gases can be compressed, as when we in-

crease the amount of air in a car’s tire while hardly increasing its

volume at all. This makes us suspect that the atoms in a solid are

packed shoulder to shoulder, while a gas is mostly vacuum, with

large spaces between molecules. Most liquids and solids have den-

sities about 1000 times greater than most gases, so evidently each

molecule in a gas is separated from its nearest neighbors by a space

something like 10 times the size of the molecules themselves.

If gas molecules have nothing but empty space between them,

why don’t the molecules in the room around you just fall to the

ﬂoor? The only possible answer is that they are in rapid motion,

continually rebounding from the walls, ﬂoor and ceiling. In section

2.4 I have already given some of the evidence for the kinetic theory

of heat, which states that heat is the kinetic energy of randomly

moving molecules. This theory was proposed by Daniel Bernoulli

in 1738, and met with considerable opposition because it seemed

as though the molecules in a gas would eventually calm down and

settle into a thin ﬁlm on the ﬂoor. There was no precedent for this

kind of perpetual motion. No rubber ball, however elastic, rebounds

from a wall with exactly as much energy as it originally had, nor

do we ever observe a collision between balls in which none of the

kinetic energy at all is converted to heat and sound. The analogy is

a false one, however. A rubber ball consists of atoms, and when it is

heated in a collision, the heat is a form of motion of those atoms. An

individual molecule, however, cannot possess heat. Likewise sound

is a form of bulk motion of molecules, so colliding molecules in a gas

cannot convert their kinetic energy to sound. Molecules can indeed

induce vibrations such as sound waves when they strike the walls of a

container, but the vibrations of the walls are just as likely to impart

energy to a gas molecule as to take energy from it. Indeed, this kind

of exchange of energy is the mechanism by which the temperatures

of the gas and its container become equilibrated.

Section 5.2 Microscopic Description of an Ideal Gas 293

5.2.2 Pressure, volume, and temperature

A gas exerts pressure on the walls of its container, and in the

kinetic theory we interpret this apparently constant pressure as the

averaged-out result of vast numbers of collisions occurring every

second between the gas molecules and the walls. The empirical

facts about gases can be summarized by the relation

1\ ∝ nT, [ideal gas]

which really only holds exactly for an ideal gas. Here n is the number

of molecules in the sample of gas.

Volume related to temperature example 7

The proportionality of volume to temperature at ﬁxed pressure

was the basis for our deﬁnition of temperature.

Pressure related to temperature example 8

Pressure is proportional to temperature when volume is held con-

stant. An example is the increase in pressure in a car’s tires when

the car has been driven on the freeway for a while and the tires

and air have become hot.

We now connect these empirical facts to the kinetic theory of

a classical ideal gas. For simplicity, we assume that the gas is

monoatomic (i.e., each molecule has only one atom), and that it

is conﬁned to a cubical box of volume \ , with 1 being the length

of each edge and ¹ the area of any wall. An atom whose velocity

has an r component ·

x

will collide regularly with the left-hand wall,

traveling a distance 21 parallel to the r axis between collisions with

that wall. The time between collisions is ∆t = 21´·

x

, and in each

collision the r component of the atom’s momentum is reversed from

−:·

x

to :·

x

. The total force on the wall is

1 =

¸

∆j

x,i

∆t

i

[monoatomic ideal gas] ,

where the index i refers to the individual atoms. Substituting

∆j

x,i

= 2:·

x,i

and ∆t

i

= 21´·

x,i

, we have

1 =

¸

:·

2

x,i

1

[monoatomic ideal gas] .

The quantity :·

2

x,i

is twice the contribution to the kinetic energy

from the part of the atoms’ center of mass motion that is parallel to

the r axis. Since we’re assuming a monoatomic gas, center of mass

motion is the only type of motion that gives rise to kinetic energy.

(A more complex molecule could rotate and vibrate as well.) If the

quantity inside the sum included the n and . components, it would

be twice the total kinetic energy of all the molecules. Since we

expect the energy to be equally shared among r, n, and . motion,

1

1

This equal sharing will be justiﬁed more rigorously on page 309.

294 Chapter 5 Thermodynamics

the quantity inside the sum must therefore equal 2/3 of the total

kinetic energy, so

1 =

21

total

31

[monoatomic ideal gas] .

Dividing by ¹ and using ¹1 = \ , we have

1 =

21

total

3\

[monoatomic ideal gas] .

This can be connected to the empirical relation 1\ ∝ nT if we

multiply by \ on both sides and rewrite 1

total

as n

¯

1, where

¯

1 is

the average kinetic energy per molecule:

1\ =

2

3

n

¯

1 [monoatomic ideal gas] .

For the ﬁrst time we have an interpretation for the temperature

based on a microscopic description of matter: in a monoatomic ideal

gas, the temperature is a measure of the average kinetic energy per

molecule. The proportionality between the two is

¯

1 = (3´2)/T,

where the constant of proportionality /, known as Boltzmann’s con-

stant, has a numerical value of 1.38 10

−23

J´K. In terms of Boltz-

mann’s constant, the relationship among the bulk quantities for an

ideal gas becomes

1\ = n/T , [ideal gas]

which is known as the ideal gas law. Although I won’t prove it here,

this equation applies to all ideal gases, even though the derivation

assumed a monoatomic ideal gas in a cubical box. (You may have

seen it written elsewhere as 1\ = ·1T, where · = n´·

A

is the

number of moles of atoms, 1 = /·

A

, and ·

A

= 6.0 10

23

, called

Avogadro’s number, is essentially the number of hydrogen atoms in

1 g of hydrogen.)

Pressure in a car tire example 9

> After driving on the freeway for a while, the air in your car’s

tires heats up from 10

◦

C to 35

◦

C. How much does the pressure

increase?

> The tires may expand a little, but we assume this effect is small,

so the volume is nearly constant. From the ideal gas law, the

ratio of the pressures is the same as the ratio of the absolute

temperatures,

P

2

´P

1

= T

2

´T

1

= (308 K)´(283 K)

= 1.09 ,

or a 9% increase.

Section 5.2 Microscopic Description of an Ideal Gas 295

Discussion Questions

A Compare the amount of energy needed to heat 1 liter of helium by

1 degree with the energy needed to heat 1 liter of xenon. In both cases,

the heating is carried out in a sealed vessel that doesn’t allow the gas to

expand. (The vessel is also well insulated.)

B Repeat discussion question A if the comparison is 1 kg of helium

versus 1 kg of xenon (equal masses, rather than equal volumes).

C Repeat discussion question A, but now compare 1 liter of helium in

a vessel of constant volume with the same amount of helium in a vessel

that allows expansion beyond the initial volume of 1 liter. (This could be a

piston, or a balloon.)

5.3 Entropy as a Macroscopic Quantity

5.3.1 Efﬁciency and grades of energy

Some forms of energy are more convenient than others in certain

situations. You can’t run a spring-powered mechanical clock on a

battery, and you can’t run a battery-powered clock with mechanical

energy. However, there is no fundamental physical principle that

prevents you from converting 100% of the electrical energy in a

battery into mechanical energy or vice-versa. More eﬃcient motors

and generators are being designed every year. In general, the laws

of physics permit perfectly eﬃcient conversion within a broad class

of forms of energy.

Heat is diﬀerent. Friction tends to convert other forms of energy

into heat even in the best lubricated machines. When we slide a

book on a table, friction brings it to a stop and converts all its kinetic

energy into heat, but we never observe the opposite process, in which

a book spontaneously converts heat energy into mechanical energy

and starts moving! Roughly speaking, heat is diﬀerent because it is

disorganized. Scrambling an egg is easy. Unscrambling it is harder.

We summarize these observations by saying that heat is a lower

grade of energy than other forms such as mechanical energy.

Of course it is possible to convert heat into other forms of energy

such as mechanical energy, and that is what a car engine does with

the heat created by exploding the air-gasoline mixture. But a car

engine is a tremendously ineﬃcient device, and a great deal of the

heat is simply wasted through the radiator and the exhaust. Engi-

neers have never succeeded in creating a perfectly eﬃcient device for

converting heat energy into mechanical energy, and we now know

that this is because of a deeper physical principle that is far more

basic than the design of an engine.

296 Chapter 5 Thermodynamics

b / A heat engine. Hot air

from the candles rises through

the fan blades, and makes the

angels spin.

c / Sadi Carnot (1796-1832)

a / 1. The temperature difference

between the hot and cold parts of

the air can be used to extract me-

chanical energy, for example with

a fan blade that spins because

of the rising hot air currents. 2.

If the temperature of the air is

ﬁrst allowed to become uniform,

then no mechanical energy can

be extracted. The same amount

of heat energy is present, but it

is no longer accessible for doing

mechanical work.

5.3.2 Heat engines

Heat may be more useful in some forms than in other, i.e., there

are diﬀerent grades of heat energy. In ﬁgure a/1, the diﬀerence

in temperature can be used to extract mechanical work with a fan

blade. This principle is used in power plants, where steam is heated

by burning oil or by nuclear reactions, and then allowed to expand

through a turbine which has cooler steam on the other side. On a

smaller scale, there is a Christmas toy, b, that consists of a small

propeller spun by the hot air rising from a set of candles, very much

like the setup shown in ﬁgure a.

In ﬁgure a/2, however, no mechanical work can be extracted

because there is no diﬀerence in temperature. Although the air in

a/2 has the same total amount of energy as the air in a/1, the heat

in a/2 is a lower grade of energy, since none of it is accessible for

doing mechanical work.

In general, we deﬁne a heat engine as any device that takes heat

from a reservoir of hot matter, extracts some of the heat energy to do

mechanical work, and expels a lesser amount of heat into a reservoir

of cold matter. The eﬃciency of a heat engine equals the amount of

useful work extracted, \, divided by the amount of energy we had

to pay for in order to heat the hot reservoir. This latter amount

of heat is the same as the amount of heat the engine extracts from

the high-temperature reservoir, Q

H

. (The letter Q is the standard

notation for a transfer of heat.) By conservation of energy, we have

Q

H

= \ + Q

L

, where Q

L

is the amount of heat expelled into the

low-temperature reservoir, so the eﬃciency of a heat engine, \´Q

H

,

can be rewritten as

eﬃciency = 1 −

Q

L

Q

H

. [eﬃciency of any heat engine]

It turns out that there is a particular type of heat engine, the

Carnot engine, which, although not 100% eﬃcient, is more eﬃcient

Section 5.3 Entropy as a Macroscopic Quantity 297

d / The beginning of the ﬁrst

expansion stroke, in which the

working gas is kept in thermal

equilibrium with the hot reservoir.

e / The beginning of the sec-

ond expansion stroke, in which

the working gas is thermally

insulated. The working gas cools

because it is doing work on the

piston and thus losing energy.

f / The beginning of the ﬁrst

compression stroke. The working

gas begins the stroke at the same

temperature as the cold reservoir,

and remains in thermal contact

with it the whole time. The engine

does negative work.

g / The beginning of the sec-

ond compression stroke, in which

mechanical work is absorbed,

heating the working gas back up

to T

H

.

than any other. The grade of heat energy in a system can thus be

unambiguously deﬁned in terms of the amount of heat energy in it

that cannot be extracted even by a Carnot engine.

How can we build the most eﬃcient possible engine? Let’s start

with an unnecessarily ineﬃcient engine like a car engine and see

how it could be improved. The radiator and exhaust expel hot

gases, which is a waste of heat energy. These gases are cooler than

the exploded air-gas mixture inside the cylinder, but hotter than

the air that surrounds the car. We could thus improve the engine’s

eﬃciency by adding an auxiliary heat engine to it, which would

operate with the ﬁrst engine’s exhaust as its hot reservoir and the

air as its cold reservoir. In general, any heat engine that expels

heat at an intermediate temperature can be made more eﬃcient by

changing it so that it expels heat only at the temperature of the

cold reservoir.

Similarly, any heat engine that absorbs some energy at an in-

termediate temperature can be made more eﬃcient by adding an

auxiliary heat engine to it which will operate between the hot reser-

voir and this intermediate temperature.

Based on these arguments, we deﬁne a Carnot engine as a heat

engine that absorbs heat only from the hot reservoir and expels it

only into the cold reservoir. Figures d-g show a realization of a

Carnot engine using a piston in a cylinder ﬁlled with a monoatomic

ideal gas. This gas, known as the working ﬂuid, is separate from,

but exchanges energy with, the hot and cold reservoirs. As proved

on page 312, this particular Carnot engine has an eﬃciency given

by

eﬃciency = 1 −

T

L

T

H

, [eﬃciency of a Carnot engine]

where T

L

is the temperature of the cold reservoir and T

H

is the

temperature of the hot reservoir.

Even if you do not wish to dig into the details of the proof,

the basic reason for the temperature dependence is not so hard to

understand. Useful mechanical work is done on strokes d and e, in

which the gas expands. The motion of the piston is in the same

direction as the gas’s force on the piston, so positive work is done

on the piston. In strokes f and g, however, the gas does negative

work on the piston. We would like to avoid this negative work,

but we must design the engine to perform a complete cycle. Luckily

the pressures during the compression strokes are lower than the ones

during the expansion strokes, so the engine doesn’t undo all its work

with every cycle. The ratios of the pressures are in proportion to

the ratios of the temperatures, so if T

L

is 20% of T

H

, the engine is

80% eﬃcient.

We have already proved that any engine that is not a Carnot

engine is less than optimally eﬃcient, and it is also true that all

298 Chapter 5 Thermodynamics

h / Entropy can be understood

using the metaphor of a water

wheel. Letting the water levels

equalize is like letting the entropy

maximize. Taking water from the

high side and putting it into the

low side increases the entropy.

Water levels in this metaphor

correspond to temperatures in

the actual deﬁnition of entropy.

Carnot engines operating between a given pair of temperatures T

H

and T

L

have the same eﬃciency. (This can be proved by the methods

of section 5.4.) Thus a Carnot engine is the most eﬃcient possible

heat engine.

5.3.3 Entropy

We would like to have some numerical way of measuring the

grade of energy in a system. We want this quantity, called entropy,

to have the following two properties:

(1) Entropy is additive. When we combine two systems and

consider them as one, the entropy of the combined system equals

the sum of the entropies of the two original systems. (Quantities

like mass and energy also have this property.)

(2) The entropy of a system is not changed by operating a Carnot

engine within it.

It turns out to be simpler and more useful to deﬁne changes

in entropy than absolute entropies. Suppose as an example that a

system contains some hot matter and some cold matter. It has a

relatively high grade of energy because a heat engine could be used

to extract mechanical work from it. But if we allow the hot and

cold parts to equilibrate at some lukewarm temperature, the grade

of energy has gotten worse. Thus putting heat into a hotter area

is more useful than putting it into a cold area. Motivated by these

considerations, we deﬁne a change in entropy as follows:

∆o =

Q

T

[change in entropy when adding

heat Q to matter at temperature T;

∆o is negative if heat is taken out]

A system with a higher grade of energy has a lower entropy.

Entropy is additive. example 10

Since changes in entropy are deﬁned by an additive quantity (heat)

divided by a non-additive one (temperature), entropy is additive.

Entropy isn’t changed by a Carnot engine. example 11

The efﬁciency of a heat engine is deﬁned by

efﬁciency = 1 −Q

L

´Q

H

,

and the efﬁciency of a Carnot engine is

efﬁciency = 1 −T

L

´T

H

,

so for a Carnot engine we have Q

L

´Q

H

= T

L

´T

H

, which can be

rewritten as Q

L

´T

L

= Q

H

´T

H

. The entropy lost by the hot reservoir

is therefore the same as the entropy gained by the cold one.

Section 5.3 Entropy as a Macroscopic Quantity 299

Entropy increases in heat conduction. example 12

When a hot object gives up energy to a cold one, conservation

of energy tells us that the amount of heat lost by the hot object

is the same as the amount of heat gained by the cold one. The

change in entropy is −Q´T

H

+ Q´T

L

, which is positive because

T

L

< T

H

.

Entropy is increased by a non-Carnot engine. example 13

The efﬁciency of a non-Carnot engine is less than 1 - T

L

´T

H

,

so Q

L

´Q

H

T

L

´T

H

and Q

L

´T

L

Q

H

´T

H

. This means that the

entropy increase in the cold reservoir is greater than the entropy

decrease in the hot reservoir.

A book sliding to a stop example 14

A book slides across a table and comes to a stop. Once it stops,

all its kinetic energy has been transformed into heat. As the book

and table heat up, their entropies both increase, so the total en-

tropy increases as well.

All of these examples involved closed systems, and in all of them

the total entropy either increased or stayed the same. It never de-

creased. Here are two examples of schemes for decreasing the en-

tropy of a closed system, with explanations of why they don’t work.

Using a refrigerator to decrease entropy? example 15

> A refrigerator takes heat from a cold area and dumps it into a

hot area. (1) Does this lead to a net decrease in the entropy of

a closed system? (2) Could you make a Carnot engine more ef-

ﬁcient by running a refrigerator to cool its low-temperature reser-

voir and eject heat into its high-temperature reservoir?

> (1) No. The heat that comes off of the radiator coils is a great

deal more than the heat the fridge removes from inside; the dif-

ference is what it costs to run your fridge. The heat radiated from

the coils is so much more than the heat removed from the inside

that the increase in the entropy of the air in the room is greater

than the decrease of the entropy inside the fridge. The most ef-

ﬁcient refrigerator is actually a Carnot engine running in reverse,

which leads to neither an increase nor a decrease in entropy.

(2) No. The most efﬁcient refrigerator is a reversed Carnot en-

gine. You will not achieve anything by running one Carnot engine

in reverse and another forward. They will just cancel each other

out.

Maxwell’s demon example 16

> Maxwell imagined a pair of rooms, their air being initially in ther-

mal equilibrium, having a partition across the middle with a tiny

door. A miniscule demon is posted at the door with a little ping-

pong paddle, and his duty is to try to build up faster-moving air

molecules in room B and slower moving ones in room A. For in-

stance, when a fast molecule is headed through the door, going

300 Chapter 5 Thermodynamics

fromA to B, he lets it by, but when a slower than average molecule

tries the same thing, he hits it back into room A. Would this de-

crease the total entropy of the pair of rooms?

> No. The demon needs to eat, and we can think of his body

as a little heat engine, and his metabolism is less efﬁcient than a

Carnot engine, so he ends up increasing the entropy rather than

decreasing it.

Observations such as these lead to the following hypothesis,

known as the second law of thermodynamics:

The entropy of a closed system always increases, or at best stays

the same: ∆o ≥ 0.

At present our arguments to support this statement may seem

less than convincing, since they have so much to do with obscure

facts about heat engines. In the following section we will ﬁnd a more

satisfying and fundamental explanation for the continual increase in

entropy. To emphasize the fundamental and universal nature of the

second law, here are a few exotic examples.

Entropy and evolution example 17

A favorite argument of many creationists who don’t believe in evo-

lution is that evolution would violate the second law of thermody-

namics: the death and decay of a living thing releases heat (as

when a compost heap gets hot) and lessens the amount of en-

ergy available for doing useful work, while the reverse process,

the emergence of life from nonliving matter, would require a de-

crease in entropy. Their argument is faulty, since the second law

only applies to closed systems, and the earth is not a closed sys-

tem. The earth is continuously receiving energy from the sun.

The heat death of the universe example 18

Living things have low entropy: to demonstrate this fact, observe

how a compost pile releases heat, which then equilibrates with

the cooler environment. We never observe dead things to leap

back to life after sucking some heat energy out of their environ-

ments! The only reason life was able to evolve on earth was that

the earth was not a closed system: it got energy from the sun,

which presumably gained more entropy than the earth lost.

Victorian philosophers spent a lot of time worrying about the heat

death of the universe: eventually the universe would have to be-

come a high-entropy, lukewarm soup, with no life or organized

motion of any kind. Fortunately (?), we now know a great many

other things that will make the universe inhospitable to life long

before its entropy is maximized. Life on earth, for instance, will

end when the sun evolves into a giant star and vaporizes our

planet.

Section 5.3 Entropy as a Macroscopic Quantity 301

Hawking radiation example 19

Any process that could destroy heat (or convert it into noth-

ing but mechanical work) would lead to a reduction in entropy.

Black holes are supermassive stars whose gravity is so strong

that nothing, not even light, can escape from them once it gets

within a boundary known as the event horizon. Black holes are

commonly observed to suck hot gas into them. Does this lead to

a reduction in the entropy of the universe? Of course one could

argue that the entropy is still there inside the black hole, but being

able to “hide” entropy there amounts to the same thing as being

able to destroy entropy.

The physicist Steven Hawking was bothered by this question, and

ﬁnally realized that although the actual stuff that enters a black

hole is lost forever, the black hole will gradually lose energy in the

form of light emitted from just outside the event horizon. This light

ends up reintroducing the original entropy back into the universe

at large.

Discussion Questions

A In this discussion question, you’ll think about a car engine in terms of

thermodynamics. Note that an internal combustion engine doesn’t ﬁt very

well into the theoretical straightjacket of a heat engine. For instance, a

heat engine has a high-temperature heat reservoir at a single well-deﬁned

temperature, T

H

. In a typical car engine, however, there are several very

different temperatures you could imagine using for T

H

: the temperature of

the engine block (∼ 100

◦

C), the walls of the cylinder (∼ 250

◦

C), or the

temperature of the exploding air-gas mixture (∼ 1000

◦

C, with signiﬁcant

changes over a four-stroke cycle). Let’s use T

H

∼ 1000

◦

C.

Burning gas supplies heat energy Q

H

to your car’s engine. The engine

does mechanical work W, but also expels heat Q

L

into the environment

through the radiator and the exhaust. Conservation of energy gives

Q

H

= Q

L

+ W ,

and the relative proportions of Q

L

and W are usually about 90% to 10%.

(Actually it depends quite a bit on the type of car, the driving conditions,

etc.)

(1) Q

L

is obviously undesirable: you pay for it, but all it does is heat the

neighborhood. Suppose that engineers do a really good job of getting rid

of the effects that create Q

L

, such as friction. Could Q

L

ever be reduced

to zero, at least theoretically?

(2) A gallon of gas releases about 140 MJ of heat Q

H

when burned. Es-

timate the change in entropy of the universe due to running a typical car

engine and burning one gallon of gas. (You’ll have to estimate how hot

the environment is. For the sake of argument, assume that the work done

by the engine, W, remains in the form of mechanical energy, although in

reality it probably ends up being changed into heat when you step on the

brakes.) Is your result consistent with the second law of thermodynamics?

(3) What would happen if you redid the calculation in #2, but assumed

Q

L

= 0? Is this consistent with your answer to #1?

302 Chapter 5 Thermodynamics

a / A gas expands freely, doubling

its volume.

b / An unusual ﬂuctuation in

the distribution of the atoms

between the two sides of the

box. There has been no external

manipulation as in ﬁgure a/1.

B Example 11 on page 299 showed that entropy isn’t changed by

a Carnot engine, by using the expression for the efﬁciency of a Carnot

engine. Prove the same thing by applying the deﬁnition of entropy to

each of the four strokes of the Carnot engine.

5.4 Entropy as a Microscopic Quantity

5.4.1 A microscopic view of entropy

To understand why the second law of thermodynamics is always

true, we need to see what entropy really means at the microscopic

level. An example that is easy to visualize is the free expansion of

a monoatomic gas. Figure a/1 shows a box in which all the atoms

of the gas are conﬁned on one side. We very quickly remove the

barrier between the two sides, a/2, and some time later, the system

has reached an equilibrium, a/3. Each snapshot shows both the po-

sitions and the momenta of the atoms, which is enough information

to allow us in theory to extrapolate the behavior of the system into

the future, or the past. However, with a realistic number of atoms,

rather than just six, this would be beyond the computational power

of any computer.

2

But suppose we show ﬁgure a/2 to a friend without any further

information, and ask her what she can say about the system’s behav-

ior in the future. She doesn’t know how the system was prepared.

Perhaps, she thinks, it was just a strange coincidence that all the

atoms happened to be in the right half of the box at this particular

moment. In any case, she knows that this unusual situation won’t

last for long. She can predict that after the passage of any signiﬁ-

cant amount of time, a surprise inspection is likely to show roughly

half the atoms on each side. The same is true if you ask her to say

what happened in the past. She doesn’t know about the barrier,

so as far as she’s concerned, extrapolation into the past is exactly

the same kind of problem as extrapolation into the future. We just

have to imagine reversing all the momentum vectors, and then all

our reasoning works equally well for backwards extrapolation. She

would conclude, then, that the gas in the box underwent an unusual

ﬂuctuation, b, and she knows that the ﬂuctuation is very unlikely

to exist very far into the future, or to have existed very far into the

past.

What does this have to do with entropy? Well, state a/3 has

a greater entropy than state a/2. It would be easy to extract me-

chanical work from a/2, for instance by letting the gas expand while

pressing on a piston rather than simply releasing it suddenly into the

void. There is no way to extract mechanical work from state a/3.

Roughly speaking, our microscopic description of entropy relates to

2

Even with smaller numbers of atoms, there is a problem with this kind of

brute-force computation, because the tiniest measurement errors in the initial

state would end up having large eﬀects later on.

Section 5.4 Entropy as a Microscopic Quantity 303

d / The phase space for two

atoms in a box.

e / The phase space for three

atoms in a box.

c / Earth orbit is becoming clut-

tered with space junk, and the

pieces can be thought of as the

“molecules” comprising an exotic

kind of gas. These image shows

the evolution of a cloud of debris

arising from a 2007 Chinese test

of an anti-satellite rocket. Pan-

els 1-4 show the cloud ﬁve min-

utes, one hour, one day, and one

month after the impact. The en-

tropy seems to have maximized

by panel 4.

the number of possible states. There are a lot more states like a/3

than there are states like a/2. Over long enough periods of time

— long enough for equilibration to occur — the system gets mixed

up, and is about equally likely to be in any of its possible states,

regardless of what state it was initially in. We deﬁne some number

that describes an interesting property of the whole system, say the

number of atoms in the right half of the box, 1. A high-entropy

value of 1 is one like 1 = 3, which allows many possible states. We

are far more likely to encounter 1 = 3 than a low-entropy value like

1 = 0 or 1 = 6.

5.4.2 Phase space

There is a problem with making this description of entropy into a

mathematical deﬁnition. The problem is that it refers to the number

of possible states, but that number is theoretically inﬁnite. To get

around the problem, we coarsen our description of the system. For

the atoms in ﬁgure a, we don’t really care exactly where each atom

is. We only care whether it is in the right side or the left side. If a

particular atom’s left-right position is described by a coordinate r,

then the set of all possible values of r is a line segment along the

r axis, containing an inﬁnite number of points. We break this line

segment down into two halves, each of width ∆r, and we consider

two diﬀerent values of r to be variations on the same state if they

both lie in the same half. For our present purposes, we can also

ignore completely the n and . coordinates, and all three momentum

components, j

x

, j

y

, and j

z

.

Now let’s do a real calculation. Suppose there are only two atoms

in the box, with coordinates r

1

and r

2

. We can give all the relevant

information about the state of the system by specifying one of the

cells in the grid shown in ﬁgure d. This grid is known as the phase

space of the system. The lower right cell, for instance, describes a

state in which atom number 1 is in the right side of the box and

atom number 2 in the left. Since there are two possible states with

1 = 1 and only one state with 1 = 2, we are twice as likely to

observe 1 = 1, and 1 = 1 has higher entropy than 1 = 2.

Figure e shows a corresponding calculation for three atoms, which

makes the phase space three-dimensional. Here, the 1 = 1 and 2

states are three times more likely than 1 = 0 and 3. Four atoms

would require a four-dimensional phase space, which exceeds our

ability to visualize. Although our present example doesn’t require

304 Chapter 5 Thermodynamics

f / A phase space for a sin-

gle atom in one dimension, taking

momentum into account.

g / Ludwig Boltzmann’s tomb,

inscribed with his equation for

entropy.

it, a phase space can describe momentum as well as position, as

shown in ﬁgure f. In general, a phase space for a monoatomic gas

has six dimensions per atom (one for each coordinate and one for

each momentum component).

5.4.3 Microscopic deﬁnitions of entropy and temperature

Two more issues need to be resolved in order to make a micro-

scopic deﬁnition of entropy.

First, if we deﬁned entropy as the number of possible states,

it would be a multiplicative quantity, not an additive one: if an

ice cube in a glass of water has `

1

states available to it, and the

number of states available to the water is `

2

, then the number of

possible states of the whole system is the product `

1

`

2

. To get

around this problem, we take the natural logarithm of the number

of states, which makes the entropy additive because of the property

of the logarithm ln(`

1

`

2

) = ln `

1

+ ln `

2

.

The second issue is a more trivial one. The concept of entropy

was originally invented as a purely macroscopic quantity, and the

macroscopic deﬁnition ∆o = Q´T, which has units of J/K, has a

diﬀerent calibration than would result from deﬁning o = ln `. The

calibration constant we need turns out to be simply the Boltzmann

constant, /.

Microscopic deﬁnition of entropy: The entropy of a system is

o = / ln `, where ` is the number of available states.

3

This also leads to a more fundamental deﬁnition of temperature.

Two systems are in thermal equilibrium when they have maximized

their combined entropy through the exchange of energy. Here the

energy possessed by one part of the system, 1

1

or 1

2

, plays the

same role as the variable 1 in the examples of free expansion above.

A maximum of a function occurs when the derivative is zero, so the

maximum entropy occurs when

d (o

1

+ o

2

)

d1

1

= 0 .

We assume the systems are only able to exchange heat energy with

each other, d1

1

= −d1

2

, so

do

1

d1

1

=

do

2

d1

2

,

and since the energy is being exchanged in the form of heat we can

make the equations look more familiar if we write dQ for an amount

of heat to be transferred into either system:

do

1

dQ

1

=

do

2

dQ

2

.

3

This is the same relation as the one on Boltzmann’s tomb, just in a slightly

diﬀerent notation.

Section 5.4 Entropy as a Microscopic Quantity 305

h / A two-atom system has

the highest number of available

states when the energy is equally

divided. Equal energy division is

therefore the most likely possibil-

ity at any given moment in time.

i / When two systems of 10

atoms each interact, the graph of

the number of possible states is

narrower than with only one atom

in each system.

In terms of our previous deﬁnition of entropy, this is equivalent to

1´T

1

= 1´T

2

, which makes perfect sense since the systems are in

thermal equilibrium. According to our new approach, entropy has

already been deﬁned in a fundamental manner, so we can take this

as a deﬁnition of temperature:

1

T

=

do

dQ

,

where do represents the increase in the system’s entropy from adding

heat dQ to it.

Examples with small numbers of atoms

Let’s see how this applies to an ideal, monoatomic gas with a

small number of atoms. To start with, consider the phase space

available to one atom. Since we assume the atoms in an ideal gas

are noninteracting, their positions relative to each other are really ir-

relevant. We can therefore enumerate the number of states available

to each atom just by considering the number of momentum vectors

it can have, without considering its possible locations. The relation-

ship between momentum and kinetic energy is 1 = (j

2

x

+j

2

y

+j

2

z

)´2:,

so if for a ﬁxed value of its energy, we arrange all of an atom’s possi-

ble momentum vectors with their tails at the origin, their tips all lie

on the surface of a sphere in phase space with radius [p[ =

√

2:1.

The number of possible states for that atom is proportional to the

sphere’s surface area, which in turn is proportional to the square of

the sphere’s radius, [p[

2

= 2:1.

Now consider two atoms. For any given way of sharing the en-

ergy between the atoms, 1 = 1

1

+ 1

2

, the number of possible

combinations of states is proportional to 1

1

1

2

. The result is shown

in ﬁgure h. The greatest number of combinations occurs when we

divide the energy equally, so an equal division gives maximum en-

tropy.

By increasing the number of atoms, we get a graph whose peak

is narrower, i. With more than one atom in each system, the total

energy is 1 = (j

2

x,1

+j

2

y,1

+j

2

z,1

+j

2

x,2

+j

2

y,2

+j

2

z,2

+...)´2:. With n

atoms, a total of 3n momentum coordinates are needed in order to

specify their state, and such a set of numbers is like a single point

in a 3n-dimensional space (which is impossible to visualize). For a

given total energy 1, the possible states are like the surface of a

3n-dimensional sphere, with a surface area proportional to j

3n−1

,

or 1

(3n−1)/2

. The graph in ﬁgure i, for example, was calculated

according to the formula 1

29/2

1

1

29/2

2

= 1

29/2

1

(1 −1

1

)

29/2

.

Since graph i is narrower than graph h, the ﬂuctuations in energy

sharing are smaller. If we inspect the system at a random moment in

time, the energy sharing is very unlikely to be more lopsided than

a 40-60 split. Now suppose that, instead of 10 atoms interacting

with 10 atoms, we had a 10

23

atoms interacting with 10

23

atoms.

306 Chapter 5 Thermodynamics

The graph would be extremely narrow, and it would be a statistical

certainty that the energy sharing would be nearly perfectly equal.

This is why we never observe a cold glass of water to change itself

into an ice cube sitting in some warm water!

By the way, note that although we’ve redeﬁned temperature,

these examples show that things are coming out consistent with the

old deﬁnition, since we saw that the old deﬁnition of temperature

could be described in terms of the average energy per atom, and

here we’re ﬁnding that equilibration results in each subset of the

atoms having an equal share of the energy.

Entropy of a monoatomic ideal gas

Let’s calculate the entropy of a monoatomic ideal gas of n atoms.

This is an important example because it allows us to show that

our present microscopic treatment of thermodynamics is consistent

with our previous macroscopic approach, in which temperature was

deﬁned in terms of an ideal gas thermometer.

The number of possible locations for each atom is \´∆r

3

, where

∆r is the size of the space cells in phase space. The number of pos-

sible combinations of locations for the atoms is therefore (\´∆r

3

)

n

.

The possible momenta cover the surface of a 3n-dimensional

sphere, whose radius is

√

2:1, and whose surface area is therefore

proportional to 1

(3n−1)/2

. In terms of phase-space cells, this area

corresponds to 1

(3n−1)/2

´∆j

3n

possible combinations of momenta,

multiplied by some constant of proportionality which depends on

:, the atomic mass, and n, the number of atoms. To avoid having

to calculate this constant of proportionality, we limit ourselves to

calculating the part of the entropy that does not depend on n, so

the resulting formula will not be useful for comparing entropies of

ideal gas samples with diﬀerent numbers of atoms.

The ﬁnal result for the number of available states is

` =

\

∆r

3

n

1

(3n−1)/2

∆j

3n−1

, [function of n]

so the entropy is

o = n/ ln \ +

3

2

n/ ln 1 + (function of ∆r, ∆j, and n) ,

where the distinction between n and n −1 has been ignored. Using

1\ = n/T and 1 = (3´2)n/T, we can also rewrite this as

o =

5

2

n/ ln T−n/ ln 1+. . . , [entropy of a monoatomic ideal gas]

where “. . .” indicates terms that may depend on ∆r, ∆j, :, and

n, but that have no eﬀect on comparisons of gas samples with the

same number of atoms.

Section 5.4 Entropy as a Microscopic Quantity 307

self-check C

Why does it make sense that the temperature term has a positive sign

in the above example, while the pressure term is negative? Why does

it make sense that the whole thing is proportional to n? > Answer, p.

862

To show consistency with the macroscopic approach to thermo-

dynamics, we need to show that these results are consistent with

the behavior of an ideal-gas thermometer. Using the new deﬁnition

1´T = do´dQ, we have 1´T = do´d1, since transferring an amount

of heat dQ into the gas increases its energy by a corresponding

amount. Evaluating the derivative, we ﬁnd 1´T = (3´2)n/´1, or

1 = (3´2)n/T, which is the correct relation for a monoatomic ideal

gas.

A mixture of molecules example 20

> Suppose we have a mixture of two different monoatomic gases,

say helium and argon. How would we ﬁnd the entropy of such a

mixture (say, in terms of V and E)? How would the energy be

shared between the two types of molecules, i.e., would a more

massive argon atom have more energy on the average than a

less massive helium atom, the same, or less?

> Since entropy is additive, we simply need to add the entropies of

the two types of atom. However, the expression derived above for

the entropy omitted the dependence on the mass m of the atom,

which is different for the two constituents of the gas, so we need

to go back and ﬁgure out how to put that m-dependence back in.

The only place where we threw away m’s was when we identiﬁed

the radius of the sphere in momentum space with

√

2mE, but

then threw away the constant factor of m. In other words, the ﬁnal

result can be generalized merely by replacing E everywhere with

the product mE. Since the log of a product is the sum of the logs,

the dependence of the ﬁnal result on m and E can be broken

apart into two different terms, and we ﬁnd

S = nk lnV +

3

2

nk lnm +

3

2

nk lnE + . . .

The total entropy of the mixture can then be written as

S = n

1

k lnV + n

2

k lnV +

3

2

n

1

k lnm

1

+

3

2

n

2

k lnm

2

+

3

2

n

1

k lnE

1

+

3

2

n

2

k lnE

2

+ . . .

Now what about the energy sharing? If the total energy is E =

E

1

+E

2

, then the most ovewhelmingly probable sharing of energy

will the the one that maximizes the entropy. Notice that the depen-

dence of the entropy on the masses m

1

and m

2

occurs in terms

that are entirely separate from the energy terms. If we want to

308 Chapter 5 Thermodynamics

maximize S with respect to E

1

(with E

2

= E −E

1

by conservation

of energy), then we differentiate S with respect to E

1

and set it

equal to zero. The terms that contain the masses don’t have any

dependence on E

1

, so their derivatives are zero, and we ﬁnd that

the molecular masses can have no effect on the energy sharing.

Setting the derivative equal to zero, we have

0 =

∂

∂E

1

n

1

k lnV + n

2

k lnV +

3

2

n

1

k lnm

1

+

3

2

n

2

k lnm

2

+

3

2

n

1

k lnE

1

+

3

2

n

2

k ln(E −E

1

) + . . .

=

3

2

k

n

1

E

1

−

n

2

E −E

1

0 =

n

1

E

1

−

n

2

E −E

1

n

1

E

1

=

n

2

E

2

.

In other words, each gas gets a share of the energy in proportion

to the number of its atoms, and therefore every atom gets, on

average, the same amount of energy, regardless of its mass. The

result for the average energy per atom is exactly the same as for

an unmixed gas,

¯

K = (3´2)kT.

Equipartition

Example 20 is a special case of a more general statement called

the equipartition theorem. Suppose we have only one argon atom,

named Alice, and one helium atom, named Harry. Their total ki-

netic energy is 1 = j

2

x

´2:+j

2

y

´2:+j

2

z

´2:+j

2

x

´2:

+j

2

y

´2:

+

j

2

z

´2:

**, where the primes indicate Harry. We have six terms that
**

all look alike. The only diﬀerence among them is that the constant

factors attached to the squares of the momenta have diﬀerent val-

ues, but we’ve just proved that those diﬀerences don’t matter. In

other words, if we have any system at all whose energy is of the

form 1 = (. . .)j

2

1

+ (. . .)j

2

2

+ . . ., with any number of terms, then

each term holds, on average, the same amount of energy,

1

2

/T. We

say that the system consisting of Alice and Harry has six degrees of

freedom. It doesn’t even matter whether the things being squared

are momenta: if you look back over the logical steps that went into

the argument, you’ll see that none of them depended on that. In a

solid, for example, the atoms aren’t free to wander around, but they

can vibrate from side to side. If an atom moves away from its equi-

librium position at r = 0 to some other value of r, then its electrical

energy is (1´2)κr

2

, where κ is the spring constant (written as the

Greek letter kappa to distinguish it from the Boltzmann constant /).

We can conclude that each atom in the solid, on average, has

1

2

/T of

energy in the electrical energy due to its r displacement along the r

axis, and equal amounts for n and .. This is known as equipartition,

Section 5.4 Entropy as a Microscopic Quantity 309

j / An experiment for deter-

mining the shapes of molecules.

meaning equal partitioning, or equal sharing. The equipartition the-

orem says that if the expression for the energy looks like a sum of

squared variables, then each degree of freedom has an average en-

ergy of

1

2

/T. Thus, very generally, we can interpret temperature as

the average energy per degree of freedom (times /´2).

An unexpected glimpse of the microcosm

You may have the feeling at this point that of course Boltzmann

was right about the literal existence of atoms, but only very so-

phisticated experiments could vindicate him deﬁnitively. After all,

the microscopic and macroscopic deﬁnitions of entropy are equiva-

lent, so it might seem as though there was no real advantage to the

microscopic approach. Surprisingly, very simple experiments are ca-

pable of revealing a picture of the microscopic world, and there is

no possible macroscopic explanation for their results.

In 1819, before Boltzmann was born, Cl´ement and Desormes did

an experiment like the one shown in ﬁgure j. The gas in the ﬂask

is pressurized using the syringe. This heats it slightly, so it is then

allowed to cool back down to room temperature. Its pressure is

measured using the manometer. The stopper on the ﬂask is popped

and then immediately reinserted. Its pressure is now equalized with

that in the room, and the gas’s expansion has cooled it a little,

because it did mechanical work on its way out of the ﬂask, causing

it to lose some of its internal energy 1. The expansion is carried out

quickly enough so that there is not enough time for any signiﬁcant

amount of heat to ﬂow in through the walls of the ﬂask before the

stopper is reinserted. The gas is now allowed to come back up

to room temperature (which takes a much longer time), and as a

result regains a fraction / of its original overpressure. During this

constant-volume reheating, we have 1\ = n/T, so the amount of

pressure regained is a direct indication of how much the gas cooled

down when it lost an amount of energy ∆1.

k / The differing shapes of a

helium atom (1), a nitrogen

molecule (2), and a diﬂuo-

roethane molecule (3) have

surprising macroscopic effects.

If the gas is monoatomic, then we know what to expect for this

relationship between energy and temperature: ∆1 = (3´2)n/∆T,

310 Chapter 5 Thermodynamics

where the factor of 3 came ultimately from the fact that the molecules

of the gas was in a three-dimensional space, k/1. Moving in this

space, each molecule can have momentum in the x, y, and z di-

rections. It has three degrees of freedom. What if the gas is not

monoatomic? Air, for example, is made of diatomic molecules, k/2.

There is a subtle diﬀerence between the two cases. An individual

atom of a monoatomic gas is a perfect sphere, so it is exactly the

same no matter how it is oriented. Because of this perfect symme-

try, there is thus no way to tell whether it is spinning or not, and

in fact we ﬁnd that it can’t rotate. The diatomic gas, on the other

hand, can rotate end over end about the x or y axis, but cannot

rotate about the z axis, which is its axis of symmetry. It has a total

of ﬁve degrees of freedom. A polyatomic molecule with a more com-

plicated, asymmetric shape, k/3, can rotate about all three axis, so

it has a total of six degrees of freedom.

Because a polyatomic molecule has more degrees of freedom than

a monoatomic one, it has more possible states for a given amount of

energy. That is, its entropy is higher for the same energy. From the

deﬁnition of temperature, 1´T = do´d1, we conclude that it has a

lower temperature for the same energy. In other words, it is more

diﬃcult to heat n molecules of diﬂuoroethane than it is to heat n

atoms of helium. When the Cl´ement-Desormes experiment is carried

out, the result / therefore depends on the shape of the molecule!

Who would have dreamed that such simple observations, correctly

interpreted, could give us this kind of glimpse of the microcosm?

Lets go ahead and calculate how this works. Suppose a gas is

allowed to expand without being able to exchange heat with the

rest of the universe. The loss of thermal energy from the gas equals

the work it does as it expands, and using the result of homework

problem 2 on page 322, the work done in an inﬁnitesimal expansion

equals 1d\ , so

d1 + 1d\ = 0 .

(If the gas had not been insulated, then there would have been a

third term for the heat gained or lost by heat conduction.)

From section 5.2 we have 1 = (3´2)1\ for a monoatomic ideal

gas. More generally, the equipartition theorem tells us that the 3

simply needs to be replaced with the number of degrees of freedom

α, so d1 = (α´2)1d\ +(α´2)\ d1, and the equation above becomes

0 =

α + 2

2

1d\ +

α

2

\ d1 .

Rearranging, we have

(α + 2)

d\

\

= −α

d1

1

.

Integrating both sides gives

(α + 2) ln \ = −αln 1 + constant,

Section 5.4 Entropy as a Microscopic Quantity 311

and taking exponentials on both sides yields

\

α+2

∝ 1

−α

.

We now wish to reexpress this in terms of pressure and temper-

ature. Eliminating \ ∝ (T´1) gives

T ∝ 1

b

,

where / = 2´(α + 2) is equal to 2/5, 2/7, or 1/4, respectively, for a

monoatomic, diatomic, or polyatomic gas.

Efﬁciency of the Carnot engine example 21

As an application, we now prove the result claimed earlier for the

efﬁciency of a Carnot engine. First consider the work done dur-

ing the constant-temperature strokes. Integrating the equation

dW = PdV, we have W =

PdV. Since the thermal energy of

an ideal gas depends only on its temperature, there is no change

in the thermal energy of the gas during this constant-temperature

process. Conservation of energy therefore tells us that work done

by the gas must be exactly balanced by the amount of heat trans-

ferred in from the reservoir.

Q = W

=

PdV

For our proof of the efﬁciency of the Carnot engine, we need only

the ratio of Q

H

to Q

L

, so we neglect constants of proportionality,

and simply subsitutde P ∝ T´V, giving

Q ∝

T

V

dV ∝ T ln

V

2

V

1

∝ T ln

P

1

P

2

.

The efﬁciency of a heat engine is

efﬁciency = 1 −

Q

L

Q

H

.

Making use of the result from the previous proof for a Carnot en-

gine with a monoatomic ideal gas as its working gas, we have

efﬁciency = 1 −

T

L

ln(P

4

´P

3

)

T

H

ln(P

1

´P

2

)

,

where the subscripts 1, 2, 3, and 4 refer to ﬁgures d–g on page

298. We have shown above that the temperature is proportional

to P

b

on the insulated strokes 2-3 and 4-1, the pressures must be

related by P

2

´P

3

= P

1

´P

4

, which can be rearranged as P

4

´P

3

=

P

1

´P

2

, and we therefore have

efﬁciency = 1 −

T

L

T

H

.

312 Chapter 5 Thermodynamics

5.4.4 The arrow of time, or “this way to the Big bang”

Now that we have a microscopic understanding of entropy, what

does that tell us about the second law of thermodynamics? The

second law deﬁnes a forward direction to time, “time’s arrow.” The

microscopic treatment of entropy, however, seems to have mysteri-

ously sidestepped that whole issue. A graph like ﬁgure b on page

303, showing a ﬂuctuation away from equilibrium, would look just

as natural if we ﬂipped it over to reverse the direction of time. Af-

ter all, the basic laws of physics are conservation laws, which don’t

distinguish between past and future. Our present picture of entropy

suggests that we restate the second law of thermodynamics as fol-

lows: low-entropy states are short-lived. An ice cube can’t exist

forever in warm water. We no longer have to distinguish past from

future.

But how do we reconcile this with our strong psychological sense

of the direction of time, including our ability to remember the past

but not the future? Why do we observe ice cubes melting in water,

but not the time-reversed version of the same process?

The answer is that there is no past-future asymmetry in the laws

of physics, but there is a past-future asymmetry in the universe. The

universe started out with the Big Bang. (Some of the evidence for

the Big Bang theory is given on page 342.) The early universe had

a very low entropy, and low-entropy states are short-lived. What

does “short-lived” mean here, however? Hot coﬀee left in a paper

cup will equilibrate with the air within ten minutes or so. Hot coﬀee

in a thermos bottle maintains its low-entropy state for much longer,

because the coﬀee is insulated by a vacuum between the inner and

outer walls of the thermos. The universe has been mostly vacuum

for a long time, so it’s well insulated. Also, it takes billions of years

for a low-entropy normal star like our sun to evolve into the high-

entropy cinder known as a white dwarf.

The universe, then, is still in the process of equilibrating, and

all the ways we have of telling the past from the future are really

just ways of determining which direction in time points toward the

Big Bang, i.e., which direction points to lower entropy. The psy-

chological arrow of time, for instance, is ultimately based on the

thermodynamic arrow. In some general sense, your brain is like

a computer, and computation has thermodynamic eﬀects. In even

the most eﬃcient possible computer, for example, erasing one bit

of memory decreases its entropy from / ln 2 (two possible states) to

/ ln 1 (one state), for a drop of about 10

−23

J/K. One way of de-

termining the direction of the psychological arrow of time is that

forward in psychological time is the direction in which, billions of

years from now, all consciousness will have ceased; if consciousness

was to exist forever in the universe, then there would have to be a

never-ending decrease in the universe’s entropy. This can’t happen,

Section 5.4 Entropy as a Microscopic Quantity 313

because low-entropy states are short-lived.

Relating the direction of the thermodynamic arrow of time to the

existence of the Big Bang is a satisfying way to avoid the paradox of

how the second law can come from basic laws of physics that don’t

distinguish past from future. There is a remaining mystery, however:

why did our universe have a Big Bang that was low in entropy? It

could just as easily have been a maximum-entropy state, and in fact

the number of possible high-entropy Big Bangs is vastly greater than

the number of possible low-entropy ones. The question, however, is

probably not one that can be answered using the methods of science.

All we can say is that if the universe had started with a maximum-

entropy Big Bang, then we wouldn’t be here to wonder about it. A

longer, less mathematical discussion of these concepts, along with

some speculative ideas, is given in “The Cosmic Origins of Time’s

Arrow,” Sean M. Carroll, Scientiﬁc American, June 2008, p. 48.

5.4.5 Quantum mechanics and zero entropy

The previous discussion would seem to imply that absolute en-

tropies are never well deﬁned, since any calculation of entropy will

always end up having terms that depend on ∆j and ∆r. For in-

stance, we might think that cooling an ideal gas to absolute zero

would give zero entropy, since there is then only one available mo-

mentum state, but there would still be many possible position states.

We’ll see later in this book, however, that the quantum mechanical

uncertainty principle makes it impossible to know the location and

position of a particle simultaneously with perfect accuracy. The

best we can do is to determine them with an accuracy such that

the product ∆j∆r is equal to a constant called Planck’s constant.

According to quantum physics, then, there is a natural minimum

size for rectangles in phase space, and entropy can be deﬁned in

absolute terms. Another way of looking at it is that according to

quantum physics, the gas as a whole has some well-deﬁned ground

state, which is its state of minimum energy. When the gas is cooled

to absolute zero, the scene is not at all like what we would picture

in classical physics, with a lot of atoms lying around motionless. It

might, for instance, be a strange quantum-mechanical state called

the Bose-Einstein condensate, which was achieved for the ﬁrst time

recently with macroscopic amounts of atoms. Classically, the gas

has many possible states available to it at zero temperature, since

the positions of the atoms can be chosen in a variety of ways. The

classical picture is a bad approximation under these circumstances,

however. Quantum mechanically there is only one ground state, in

which each atom is spread out over the available volume in a cloud

of probability. The entropy is therefore zero at zero temperature.

This fact, which cannot be understood in terms of classical physics,

is known as the third law of thermodynamics.

314 Chapter 5 Thermodynamics

5.4.6 Summary of the laws of thermodynamics

Here is a summary of the laws of thermodynamics:

The zeroth law of thermodynamics (page 291) If object A is

at the same temperature as object B, and B is at the same

temperature as C, then A is at the same temperature as C.

The ﬁrst law of thermodynamics (page 286) Energy is

conserved.

The second law of thermodynamics (page 301) The entropy

of a closed system always increases, or at best stays the same:

∆o ≥ 0.

The third law of thermodynamics (page 314) The entropy of

a system approaches zero as its temperature approaches abso-

lute zero.

From a modern point of view, only the ﬁrst law deserves to be called

a fundamental law of physics. Once Boltmann discovered the mi-

croscopic nature of entropy, the zeroth and second laws could be

understood as statements about probability: a system containing a

large number of particles is overwhelmingly likely to do a certain

thing, simply because the number of possible ways to do it is ex-

tremely large compared to the other possibilities. The third law

is also now understood to be a consequence of more basic physical

principles, but to explain the third law, it’s not suﬃcient simply to

know that matter is made of atoms: we also need to understand the

quantum-mechanical nature of those atoms, discussed in chapter 13.

Historically, however, the laws of thermodynamics were discovered

in the eighteenth century, when the atomic theory of matter was

generally considered to be a hypothesis that couldn’t be tested ex-

perimentally. Ideally, with the publication of Boltzmann’s work on

entropy in 1877, the zeroth and second laws would have been imme-

diately demoted from the status of physical laws, and likewise the

development of quantum mechanics in the 1920’s would have done

the same for the third law.

5.5 More about Heat Engines

So far, the only heat engine we’ve discussed in any detail has been

a ﬁctitious Carnot engine, with a monoatomic ideal gas as its work-

ing gas. As a more realistic example, ﬁgure l shows one full cycle

of a cylinder in a standard gas-burning automobile engine. This

four-stroke cycle is called the Otto cycle, after its inventor, German

engineer Nikolaus Otto. The Otto cycle is more complicated than a

Carnot cycle, in a number of ways:

Section 5.5 More about Heat Engines 315

l / The Otto cycle. 1. In the ex-

haust stroke, the piston expels the

burned air-gas mixture left over

from the preceding cycle. 2. In

the intake stroke, the piston sucks

in fresh air-gas mixture. 3. In

the compression stroke, the pis-

ton compresses the mixture, and

heats it. 4. At the beginning of

the power stroke, the spark plug

ﬁres, causing the air-gas mixture

to burn explosively and heat up

much more. The heated mix-

ture expands, and does a large

amount of positive mechanical

work on the piston.

• The working gas is physically pumped in and out of the cylin-

der through valves, rather than being sealed and reused indef-

initely as in the Carnot engine.

• The cylinders are not perfectly insulated from the engine block,

so heat energy is lost from each cylinder by conduction. This

makes the engine less eﬃcient that a Carnot engine, because

heat is being discharged at a temperature that is not as cool

as the environment.

• Rather than being heated by contact with an external heat

reservoir, the air-gas mixture inside each cylinder is heated

by internal combusion: a spark from a spark plug burns the

gasoline, releasing heat.

• The working gas is not monoatomic. Air consists of diatomic

molecules (N

2

and O

2

), and gasoline of polyatomic molecules

such as octane (C

8

H

18

).

• The working gas is not ideal. An ideal gas is one in which

the molecules never interact with one another, but only with

the walls of the vessel, when they collide with it. In a car en-

gine, the molecules are interacting very dramatically with one

another when the air-gas mixture explodes (and less dramat-

ically at other times as well, since, for example, the gasoline

316 Chapter 5 Thermodynamics

a / P-V diagrams for a Carnot

engine and an Otto engine.

may be in the form of microscopic droplets rather than indi-

vidual molecules).

This is all extremely complicated, and it would be nice to have

some way of understanding and visualizing the important proper-

ties of such a heat engine without trying to handle every detail at

once. A good method of doing this is a type of graph known as

a P-V diagram. As proved in homework problem 2, the equation

d\ = 1dr for mechanical work can be rewritten as d\ = 1d\ in

the case of work done by a piston. Here 1 represents the pressure

of the working gas, and \ its volume. Thus, on a graph of 1 versus

\ , the area under the curve represents the work done. When the

gas expands, dr is positive, and the gas does positive work. When

the gas is being compressed, dr is negative, and the gas does neg-

ative work, i.e., it absorbs energy. Notice how, in the diagram of

the Carnot engine in the top panel of ﬁgure a, the cycle goes clock-

wise around the curve, and therefore the part of the curve in which

negative work is being done (arrowheads pointing to the left) are

below the ones in which positive work is being done. This means

that over all, the engine does a positive amount of work. This net

work equals the area under the top part of the curve, minus the

area under the bottom part of the curve, which is simply the area

enclosed by the curve. Although the diagram for the Otto engine is

more complicated, we can at least compare it on the same footing

with the Carnot engine. The curve forms a ﬁgure-eight, because it

cuts across itself. The top loop goes clockwise, so as in the case

of the Carnot engine, it represents positive work. The bottom loop

goes counterclockwise, so it represents a net negative contribution

to the work. This is because more work is expended in forcing out

the exhaust than is generated in the intake stroke.

To make an engine as eﬃcient as possible, we would like to make

the loop have as much area as possible. What is it that determines

the actual shape of the curve? First let’s consider the constant-

temperature expansion stroke that forms the top of the Carnot en-

gine’s P-V plot. This is analogous to the power stroke of an Otto

engine. Heat is being sucked in from the hot reservoir, and since

the working gas is always in thermal equilibrium with the hot reser-

voir, its temperature is constant. Regardless of the type of gas, we

therefore have 1\ = n/T with T held constant, and thus 1 ∝ \

−1

is the mathematical shape of this curve — a n = 1´r graph, which

is a hyperbola. This is all true regardless of whether the working

gas is monoatomic, diatomic, or polyatomic. (The bottom of the

loop is likewise of the form 1 ∝ \

−1

, but with a smaller constant

of proportionality due to the lower temperature.)

Now consider the insulated expansion stroke that forms the right

side of the curve for the Carnot engine. As shown on page 311,

the relationship between pressure and temperature in an insulated

Section 5.5 More about Heat Engines 317

b / Example 23,

compression or expansion is T ∝ 1

b

, with / = 2´5, 2/7, or 1/4,

respectively, for a monoatomic, diatomic, or polyatomic gas. For 1

as a function of \ at constant T, the ideal gas law gives 1 ∝ T´\ ,

so 1 ∝ \

−γ

, where γ = 1´(1 −/) takes on the values 5/3, 7/5, and

4/3. The number γ can be interpreted as the ratio C

P

´C

V

, where

C

P

, the heat capacity at constant pressure, is the amount of heat

required to raise the temperature of the gas by one degree while

keeping its pressure constant, and C

V

is the corresponding quantity

under conditions of constant volume.

The compression ratio example 22

Operating along a constant-temperature stroke, the amount of

mechanical work done by a heat engine can be calculated as

follows:

PV = nkT

Setting c = nkT to simplify the writing,

P = cV

−1

W =

V

f

V

i

P dV

= c

V

f

V

i

V

−1

dV

= c lnV

f

−c lnV

i

= c ln(V

f

´V

i

)

The ratio V

f

´V

i

is called the compression ratio of the engine, and

higher values result in more power along this stroke. Along an

insulated stroke, we have P ∝ V

−γ

, with γ = 1, so the result for

the work no longer has this perfect mathematical property of de-

pending only on the ratio V

f

´V

i

. Nevertheless, the compression

ratio is still a good ﬁgure of merit for predicting the performance of

any heat engine, including an internal combustion engine. High

compression ratios tend to make the working gas of an internal

combustion engine heat up so much that it spontaneously ex-

plodes. When this happens in an Otto-cycle engine, it can cause

ignition before the sparkplug ﬁres, an undesirable effect known as

pinging. For this reason, the compression ratio of an Otto-cycle

automobile engine cannot normally exceed about 10. In a diesel

engine, however, this effect is used intentionally, as an alternative

to sparkplugs, and compression ratios can be 20 or more.

Sound example 23

Figure b shows a P-V plot for a sound wave. As the pressure

oscillates up and down, the air is heated and cooled by its com-

pression and expansion. Heat conduction is a relatively slow pro-

cess, so typically there is not enough time over each cycle for any

318 Chapter 5 Thermodynamics

c / Example 24.

signiﬁcant amount of heat to ﬂow from the hot areas to the cold

areas. (This is analogous to insulated compression or expansion

of a heat engine; in general, a compression or expansion of this

type, with no transfer of heat, is called adiabatic.) The pressure

and volume of a particular little piece of the air are therefore re-

lated according to P ∝ V

−γ

. The cycle of oscillation consists

of motion back and forth along a single curve in the P-V plane,

and since this curve encloses zero volume, no mechanical work

is being done: the wave (under the assumed ideal conditions)

propagates without any loss of energy due to friction.

Measuring γ using the “spring of air” example 24

Figure c shows an experiment that can be used to measure the

γ of a gas. When the mass m is inserted into bottle’s neck,

which has cross-sectional area A, the mass drops until it com-

presses the air enough so that the pressure is enough to support

its weight. The observed frequency ω of oscillations about this

equilibrium position y

o

can be used to extract the γ of the gas.

ω

2

=

k

m

= −

1

m

dF

dy

yo

= −

A

m

dP

dy

yo

= −

A

2

m

dP

dV

Vo

We make the bottle big enough so that its large surface-to-volume

ratio prevents the conduction of any signiﬁcant amount of heat

through its walls during one cycle, so P ∝ V

−γ

, and dP´dV =

−γP´V. Thus,

ω

2

= γ

A

2

m

P

o

V

o

The Helmholtz resonator example 25

When you blow over the top of a beer bottle, you produce a pure

tone. As you drink more of the beer, the pitch goes down. This

is similar to example 24, except that instead of a solid mass m

sitting inside the neck of the bottle, the moving mass is the air

itself. As air rushes in and out of the bottle, its velocity is highest

at the bottleneck, and since kinetic energy is proportional to the

square of the velocity, essentially all of the kinetic energy is that

of the air that’s in the neck. In other words, we can replace m with

ALρ, where L is the length of the neck, and ρ is the density of the

air. Substituting into the earlier result, we ﬁnd that the resonant

frequency is

ω

2

= γ

P

o

ρ

A

LV

o

.

Section 5.5 More about Heat Engines 319

This is known as a Helmholtz resonator. As shown in ﬁgure d, a

violin or an acoustic guitar has a Helmholtz resonance, since air

can move in and out through the f-holes. Problem 10 is a more

quantitative exploration of this.

d / The resonance curve of a

1713 Stradivarius violin, mea-

sured by Carleen Hutchins. There

are a number of different reso-

nance peaks, some strong and

some weak; the ones near 200

and 400 Hz are vibrations of the

wood, but the one near 300 Hz

is a resonance of the air moving

in and out through those holes

shaped like the letter F. The white

lines show the frequencies of the

four strings.

We have already seen, based on the microscopic nature of en-

tropy, that any Carnot engine has the same eﬃciency, and the ar-

gument only employed the assumption that the engine met the def-

inition of a Carnot cycle: two insulated strokes, and two constant-

temperature strokes. Since we didn’t have to make any assumptions

about the nature of the working gas being used, the result is evi-

dently true for diatomic or polyatomic molecules, or for a gas that is

not ideal. This result is surprisingly simple and general, and a little

mysterious — it even applies to possibilities that we have not even

considered, such as a Carnot engine designed so that the working

“gas” actually consists of a mixture of liquid droplets and vapor, as

in a steam engine. How can it always turn out so simple, given the

kind of mathematical complications that were swept under the rug

in example 22? A better way to understand this result is by switch-

ing from P-V diagrams to a diagram of temperature versus entropy,

as shown in ﬁgure e. An inﬁnitesimal transfer of heat dQ gives rise

to a change in entropy do = dQ´T, so the area under the curve on

a T-S plot gives the amount of heat transferred. The area under the

top edge of the box in ﬁgure e, extending all the way down to the

axis, represents the amount of heat absorbed from the hot reservoir,

while the smaller area under the bottom edge represents the heat

wasted into the cold reservoir. By conservation of energy, the area

enclosed by the box therefore represents the amount of mechanical

work being done, as for a P-V diagram. We can now see why the

eﬃciency of a Carnot engine is independent of any of the physical

details: the deﬁnition of a Carnot engine guarantees that the T-S

320 Chapter 5 Thermodynamics

e / A T-S diagram for a Carnot

engine.

diagram will be a rectangular box, and the eﬃciency depends only

on the relative heights of the top and bottom of the box.

This chapter is summarized on page 888. Notation and terminology

are tabulated on pages 877-878.

Section 5.5 More about Heat Engines 321

Problems

The symbols

√

, , etc. are explained on page 324.

1 (a) Show that under conditions of standard pressure and tem-

perature, the volume of a sample of an ideal gas depends only on

the number of molecules in it.

(b) One mole is deﬁned as 6.010

23

atoms. Find the volume of one

mole of an ideal gas, in units of liters, at standard temperature and

pressure (0

◦

C and 101 kPa).

√

2 A gas in a cylinder expands its volume by an amount d\ ,

pushing out a piston. Show that the work done by the gas on the

piston is given by d\ = 1d\ .

3 (a) A helium atom contains 2 protons, 2 electrons, and 2

neutrons. Find the mass of a helium atom.

√

(b) Find the number of atoms in 1.0 kg of helium.

√

(c) Helium gas is monoatomic. Find the amount of heat needed to

raise the temperature of 1.0 kg of helium by 1.0 degree C. (This is

known as helium’s heat capacity at constant volume.)

√

4 A sample of gas is enclosed in a sealed chamber. The gas

consists of molecules, which are then split in half through some

process such as exposure to ultraviolet light, or passing an electric

spark through the gas. The gas returns to thermal equilibrium with

the surrounding room. How does its pressure now compare with its

pressure before the molecules were split?

5 Most of the atoms in the universe are in the form of gas that

is not part of any star or galaxy: the intergalactic medium (IGM).

The IGM consists of about 10

−5

atoms per cubic centimeter, with

a typical temperature of about 10

3

K. These are, in some sense, the

density and temperature of the universe (not counting light, or the

exotic particles known as “dark matter”). Calculate the pressure of

the universe (or, speaking more carefully, the typical pressure due

to the IGM).

√

6 Estimate the pressure at the center of the Earth, assuming it

is of constant density throughout. Note that o is not constant with

respect to depth — as shown in example 18 on page 103, o equals

G::´/

3

for :, the distance from the center, less than /, the earth’s

radius.

(a) State your result in terms of G, :, and /.

√

(b) Show that your answer from part a has the right units for pres-

sure.

(c) Evaluate the result numerically.

√

(d) Given that the earth’s atmosphere is on the order of one thou-

sandth the earth’s radius, and that the density of the earth is several

thousand times greater than the density of the lower atmosphere,

check that your result is of a reasonable order of magnitude.

322 Chapter 5 Thermodynamics

7 (a) Determine the ratio between the escape velocities from the

surfaces of the earth and the moon.

√

(b) The temperature during the lunar daytime gets up to about

130

◦

C. In the extremely thin (almost nonexistent) lunar atmosphere,

estimate how the typical velocity of a molecule would compare with

that of the same type of molecule in the earth’s atmosphere. As-

sume that the earth’s atmosphere has a temperature of 0

◦

C.

√

(c) Suppose you were to go to the moon and release some ﬂuo-

rocarbon gas, with molecular formula C

n

F

2n+2

. Estimate what is

the smallest ﬂuorocarbon molecule (lowest n) whose typical velocity

would be lower than that of an N

2

molecule on earth in proportion

to the moon’s lower escape velocity. The moon would be able to

retain an atmosphere made of these molecules.

√

8 Refrigerators, air conditioners, and heat pumps are heat en-

gines that work in reverse. You put in mechanical work, and the

eﬀect is to take heat out of a cooler reservoir and deposit heat in a

warmer one: Q

L

+\ = Q

H

. As with the heat engines discussed pre-

viously, the eﬃciency is deﬁned as the energy transfer you want (Q

L

for a refrigerator or air conditioner, Q

H

for a heat pump) divided

by the energy transfer you pay for (\).

Eﬃciencies are supposed to be unitless, but the eﬃciency of an

air conditioner is normally given in terms of an EER rating (or

a more complex version called an SEER). The EER is deﬁned as

Q

L

´\, but expressed in the barbaric units of of Btu/watt-hour.

A typical EER rating for a residential air conditioner is about 10

Btu/watt-hour, corresponding to an eﬃciency of about 3. The stan-

dard temperatures used for testing an air conditioner’s eﬃciency are

80

◦

1 (27

◦

C) inside and 95

◦

1 (35

◦

C) outside.

(a) What would be the EER rating of a reversed Carnot engine used

as an air conditioner?

√

(b) If you ran a 3-kW residential air conditioner, with an eﬃciency

of 3, for one hour, what would be the eﬀect on the total entropy

of the universe? Is your answer consistent with the second law of

thermodynamics?

√

9 Even when resting, the human body needs to do a certain

amount of mechanical work to keep the heart beating. This quan-

tity is diﬃcult to deﬁne and measure with high precision, and also

depends on the individual and her level of activity, but it’s estimated

to be about 1 to 5 watts. Suppose we consider the human body as

nothing more than a pump. A person who is just lying in bed all

day needs about 1000 kcal/day worth of food to stay alive. (a) Es-

timate the person’s thermodynamic eﬃciency as a pump, and (b)

compare with the maximum possible eﬃciency imposed by the laws

of thermodynamics for a heat engine operating across the diﬀerence

between a body temperature of 37

◦

C and an ambient temperature

of 22

◦

C. (c) Interpret your answer. > Answer, p. 867

Problems 323

10 Example 25 on page 319 suggests analyzing the resonance

of a violin at 300 Hz as a Helmholtz resonance. However, we might

expect the equation for the frequency of a Helmholtz resonator to

be a rather crude approximation here, since the f-holes are not long

tubes, but slits cut through the face of the instrument, which is only

about 2.5 mm thick. (a) Estimate the frequency that way anyway,

for a violin with a volume of about 1.6 liters, and f-holes with a total

area of 10 cm

2

. (b) A common rule of thumb is that at an open end

of an air column, such as the neck of a real Helmholtz resonator,

some air beyond the mouth also vibrates as if it was inside the

tube, and that this eﬀect can be taken into account by adding 0.4

times the diameter of the tube for each open end (i.e., 0.8 times the

diameter when both ends are open). Applying this to the violin’s

f-holes results in a huge change in 1, since the ∼ 7 mm width of the

f-hole is considerably greater than the thickness of the wood. Try

it, and see if the result is a better approximation to the observed

frequency of the resonance. > Answer, p. 868

Key to symbols:

easy typical challenging diﬃcult very diﬃcult

√

An answer check is available at www.lightandmatter.com.

324 Chapter 5 Thermodynamics

The vibrations of this electric bass string are converted to electrical vibra-

tions, then to sound vibrations, and ﬁnally to vibrations of our eardrums.

Chapter 6

Waves

Dandelion. Cello. Read those two words, and your brain instantly

conjures a stream of associations, the most prominent of which have

to do with vibrations. Our mental category of “dandelion-ness” is

strongly linked to the color of light waves that vibrate about half a

million billion times a second: yellow. The velvety throb of a cello

has as its most obvious characteristic a relatively low musical pitch

— the note you’re spontaneously imagining right now might be one

whose sound vibrations repeat at a rate of a hundred times a second.

Evolution seems to have designed our two most important senses

around the assumption that our environment is made of waves,

whereas up until now, we’ve mostly taken the view that Nature can

be understood by breaking her down into smaller and smaller parts,

ending up with particles as her most fundamental building blocks.

Does that work for light and sound? Sound waves are disturbances

in air, which is made of atoms, but light, on the other hand, isn’t a

vibration of atoms. Light, unlike sound, can travel through a vac-

uum: if you’re reading this by sunlight, you’re taking advantage of

light that had to make it through millions of miles of vacuum to get

to you. Waves, then, are not just a trick that vibrating atoms can

do. Waves are one of the basic phenomena of the universe. At the

325

a / Your ﬁnger makes a de-

pression in the surface of the

water, 1. The wave patterns

starts evolving, 2, after you

remove your ﬁnger.

end of this book, we’ll even see that the things we’ve been calling

particles, such as electrons, are really waves!

1

6.1 Free Waves

6.1.1 Wave motion

Let’s start with an intuition-building exercise that deals with

waves in matter, since they’re easier than light waves to get your

hands on. Put your ﬁngertip in the middle of a cup of water and

then remove it suddenly. You’ll have noticed two results that are

surprising to most people. First, the ﬂat surface of the water does

not simply sink uniformly to ﬁll in the volume vacated by your

ﬁnger. Instead, ripples spread out, and the process of ﬂattening out

occurs over a long period of time, during which the water at the

center vibrates above and below the normal water level. This type

of wave motion is the topic of the present section. Second, you’ve

found that the ripples bounce oﬀ of the walls of the cup, in much

the same way that a ball would bounce oﬀ of a wall. In the next

section we discuss what happens to waves that have a boundary

around them. Until then, we conﬁne ourselves to wave phenomena

that can be analyzed as if the medium (e.g., the water) was inﬁnite

and the same everywhere.

It isn’t hard to understand why removing your ﬁngertip creates

ripples rather than simply allowing the water to sink back down

uniformly. The initial crater, a/1, left behind by your ﬁnger has

sloping sides, and the water next to the crater ﬂows downhill to ﬁll

in the hole. The water far away, on the other hand, initially has

no way of knowing what has happened, because there is no slope

for it to ﬂow down. As the hole ﬁlls up, the rising water at the

center gains upward momentum, and overshoots, creating a little

hill where there had been a hole originally. The area just outside of

this region has been robbed of some of its water in order to build

the hill, so a depressed “moat” is formed, a/2. This eﬀect cascades

outward, producing ripples.

There are three main ways in which wave motion diﬀers from

the motion of objects made of matter.

1. superposition

If you watched the water in the cup carefully, you noticed the

ghostlike behavior of the reﬂected ripples coming back toward the

center of the cup and the outgoing ripples that hadn’t yet been re-

ﬂected: they passed right through each other. This is the ﬁrst, and

the most profound, diﬀerence between wave motion and the mo-

1

Speaking more carefully, I should say that every basic building block of light

and matter has both wave and particle properties.

326 Chapter 6 Waves

b / The two circular patterns of

ripples pass through each other.

Unlike material objects, wave pat-

terns can overlap in space, and

when this happens they combine

by addition.

tion of objects: waves do not display any repulsion of each other

analogous to the normal forces between objects that come in con-

tact. Two wave patterns can therefore overlap in the same region of

space, as shown in ﬁgure b. Where the two waves coincide, they add

together. For instance, suppose that at a certain location in at a cer-

tain moment in time, each wave would have had a crest 3 cm above

the normal water level. The waves combine at this point to make a

6-cm crest. We use negative numbers to represent depressions in the

water. If both waves would have had a troughs measuring −3 cm,

then they combine to make an extra-deep −6 cm trough. A +3 cm

crest and a −3 cm trough result in a height of zero, i.e., the waves

momentarily cancel each other out at that point. This additive rule

is referred to as the principle of superposition, “superposition” being

merely a fancy word for “adding.”

Superposition can occur not just with sinusoidal waves like the

ones in the ﬁgure above but with waves of any shape. The ﬁgures

on the following page show superposition of wave pulses. A pulse is

simply a wave of very short duration. These pulses consist only of

a single hump or trough. If you hit a clothesline sharply, you will

observe pulses heading oﬀ in both directions. This is analogous to

the way ripples spread out in all directions when you make a distur-

bance at one point on water. The same occurs when the hammer

on a piano comes up and hits a string.

Experiments to date have not shown any deviation from the

principle of superposition in the case of light waves. For other types

of waves, it is typically a very good approximation for low-energy

waves.

Section 6.1 Free Waves 327

d / As the wave pulse goes

by, the ribbon tied to the spring

is not carried along. The motion

of the wave pattern is to the

right, but the medium (spring) is

moving from side to side, not to

the right. (PSSC Physics)

c / As the wave pattern passes the rubber duck, the duck stays

put. The water isn’t moving with the wave.

2. the medium is not transported with the wave.

The sequence of three photos in ﬁgure c shows a series of water

waves before it has reached a rubber duck (left), having just passed

the duck (middle) and having progressed about a meter beyond the

duck (right). The duck bobs around its initial position, but is not

carried along with the wave. This shows that the water itself does

not ﬂow outward with the wave. If it did, we could empty one end of

a swimming pool simply by kicking up waves! We must distinguish

between the motion of the medium (water in this case) and the

motion of the wave pattern through the medium. The medium

vibrates; the wave progresses through space.

self-check A

In ﬁgure d, you can detect the side-to-side motion of the spring because

the spring appears blurry. At a certain instant, represented by a single

photo, how would you describe the motion of the different parts of the

spring? Other than the ﬂat parts, do any parts of the spring have zero

velocity? > Answer, p. 862

A worm example 1

The worm in the ﬁgure is moving to the right. The wave pattern,

a pulse consisting of a compressed area of its body, moves to

the left. In other words, the motion of the wave pattern is in the

opposite direction compared to the motion of the medium.

Surﬁng example 2

The incorrect belief that the medium moves with the wave is often

328 Chapter 6 Waves

e / Example 2. The surfer is

dragging his hand in the water.

f / Example 3: a breaking

wave.

g / Example 4. The boat has

run up against a limit on its speed

because it can’t climb over its

own wave. Dolphins get around

the problem by leaping out of the

water.

reinforced by garbled secondhand knowledge of surﬁng. Anyone

who has actually surfed knows that the front of the board pushes

the water to the sides, creating a wake — the surfer can even

drag his hand through the water, as in in ﬁgure e. If the water was

moving along with the wave and the surfer, this wouldn’t happen.

The surfer is carried forward because forward is downhill, not be-

cause of any forward ﬂow of the water. If the water was ﬂowing

forward, then a person ﬂoating in the water up to her neck would

be carried along just as quickly as someone on a surfboard. In

fact, it is even possible to surf down the back side of a wave, al-

though the ride wouldn’t last very long because the surfer and the

wave would quickly part company.

3. a wave’s velocity depends on the medium.

A material object can move with any velocity, and can be sped

up or slowed down by a force that increases or decreases its kinetic

energy. Not so with waves. The speed of a wave, depends on the

properties of the medium (and perhaps also on the shape of the

wave, for certain types of waves). Sound waves travel at about 340

m/s in air, 1000 m/s in helium. If you kick up water waves in a

pool, you will ﬁnd that kicking harder makes waves that are taller

(and therefore carry more energy), not faster. The sound waves

from an exploding stick of dynamite carry a lot of energy, but are

no faster than any other waves. In the following section we will give

an example of the physical relationship between the wave speed and

the properties of the medium.

Breaking waves example 3

The velocity of water waves increases with depth. The crest of a

wave travels faster than the trough, and this can cause the wave

to break.

Once a wave is created, the only reason its speed will change is

if it enters a diﬀerent medium or if the properties of the medium

change. It is not so surprising that a change in medium can slow

down a wave, but the reverse can also happen. A sound wave trav-

eling through a helium balloon will slow down when it emerges into

the air, but if it enters another balloon it will speed back up again!

Similarly, water waves travel more quickly over deeper water, so a

wave will slow down as it passes over an underwater ridge, but speed

up again as it emerges into deeper water.

Hull speed example 4

The speeds of most boats, and of some surface-swimming ani-

mals, are limited by the fact that they make a wave due to their

motion through the water. The boat in ﬁgure g is going at the

same speed as its own waves, and can’t go any faster. No mat-

ter how hard the boat pushes against the water, it can’t make

the wave move ahead faster and get out of the way. The wave’s

speed depends only on the medium. Adding energy to the wave

Section 6.1 Free Waves 329

h / Circular and linear wave

patterns.

i / Plane and spherical wave

patterns.

doesn’t speed it up, it just increases its amplitude.

A water wave, unlike many other types of wave, has a speed that

depends on its shape: a broader wave moves faster. The shape

of the wave made by a boat tends to mold itself to the shape of

the boat’s hull, so a boat with a longer hull makes a broader wave

that moves faster. The maximum speed of a boat whose speed is

limited by this effect is therefore closely related to the length of its

hull, and the maximum speed is called the hull speed. Sailboats

designed for racing are not just long and skinny to make them

more streamlined — they are also long so that their hull speeds

will be high.

Wave patterns

If the magnitude of a wave’s velocity vector is preordained, what

about its direction? Waves spread out in all directions from every

point on the disturbance that created them. If the disturbance is

small, we may consider it as a single point, and in the case of water

waves the resulting wave pattern is the familiar circular ripple, h/1.

If, on the other hand, we lay a pole on the surface of the water

and wiggle it up and down, we create a linear wave pattern, h/2.

For a three-dimensional wave such as a sound wave, the analogous

patterns would be spherical waves and plane waves, i.

Inﬁnitely many patterns are possible, but linear or plane waves

are often the simplest to analyze, because the velocity vector is in

the same direction no matter what part of the wave we look at. Since

all the velocity vectors are parallel to one another, the problem is

eﬀectively one-dimensional. Throughout this chapter and the next,

we will restrict ourselves mainly to wave motion in one dimension,

while not hesitating to broaden our horizons when it can be done

without too much complication.

330 Chapter 6 Waves

Discussion Questions

A The left panel of the ﬁgure shows a sequence of snapshots of two

positive pulses on a coil spring as they move through each other. In the

right panel, which shows a positive pulse and a negative one, the ﬁfth

frame has the spring just about perfectly ﬂat. If the two pulses have es-

sentially canceled each other out perfectly, then why does the motion pick

up again? Why doesn’t the spring just stay ﬂat?

j / Discussion question A.

B Sketch two positive wave pulses on a string that are overlapping but

not right on top of each other, and draw their superposition. Do the same

for a positive pulse running into a negative pulse.

C A traveling wave pulse is moving to the right on a string. Sketch the

velocity vectors of the various parts of the string. Now do the same for a

pulse moving to the left.

D In a spherical sound wave spreading out from a point, how would

the energy of the wave fall off with distance?

Section 6.1 Free Waves 331

k / Hitting a key on a piano

causes a hammer to come up

from underneath and hit a string

(actually a set of three). The

result is a pair of pulses moving

away from the point of impact.

l / A pulse on a string splits

in two and heads off in both

directions.

m / Modeling a string as a

series of masses connected by

springs.

6.1.2 Waves on a string

So far you’ve learned some counterintuitive things about the

behavior of waves, but intuition can be trained. The ﬁrst half of

this subsection aims to build your intuition by investigating a simple,

one-dimensional type of wave: a wave on a string. If you have ever

stretched a string between the bottoms of two open-mouthed cans to

talk to a friend, you were putting this type of wave to work. Stringed

instruments are another good example. Although we usually think

of a piano wire simply as vibrating, the hammer actually strikes

it quickly and makes a dent in it, which then ripples out in both

directions. Since this chapter is about free waves, not bounded ones,

we pretend that our string is inﬁnitely long.

After the qualitative discussion, we will use simple approxima-

tions to investigate the speed of a wave pulse on a string. This quick

and dirty treatment is then followed by a rigorous attack using the

methods of calculus, which turns out to be both simpler and more

general.

Intuitive ideas

Consider a string that has been struck, l/1, resulting in the cre-

ation of two wave pulses, l/2, one traveling to the left and one to

the right. This is analogous to the way ripples spread out in all

directions from a splash in water, but on a one-dimensional string,

“all directions” becomes “both directions.”

We can gain insight by modeling the string as a series of masses

connected by springs, m. (In the actual string the mass and the

springiness are both contributed by the molecules themselves.) If

we look at various microscopic portions of the string, there will be

some areas that are ﬂat, 1, some that are sloping but not curved, 2,

and some that are curved, 3 and 4. In example 1 it is clear that both

the forces on the central mass cancel out, so it will not accelerate.

The same is true of 2, however. Only in curved regions such as 3

and 4 is an acceleration produced. In these examples, the vector

sum of the two forces acting on the central mass is not zero. The

important concept is that curvature makes force: the curved areas of

a wave tend to experience forces resulting in an acceleration toward

the mouth of the curve. Note, however, that an uncurved portion

of the string need not remain motionless. It may move at constant

velocity to either side.

Approximate treatment

We now carry out an approximate treatment of the speed at

which two pulses will spread out from an initial indentation on a

string. For simplicity, we imagine a hammer blow that creates a tri-

angular dent, n/1. We will estimate the amount of time, t, required

until each of the pulses has traveled a distance equal to the width

of the pulse itself. The velocity of the pulses is then ±n´t.

332 Chapter 6 Waves

n / A triangular pulse spreads out.

As always, the velocity of a wave depends on the properties of

the medium, in this case the string. The properties of the string can

be summarized by two variables: the tension, T, and the mass per

unit length, j (Greek letter mu).

If we consider the part of the string encompassed by the initial

dent as a single object, then this object has a mass of approxi-

mately jn (mass/length length=mass). (Here, and throughout

the derivation, we assume that / is much less than n, so that we can

ignore the fact that this segment of the string has a length slightly

greater than n.) Although the downward acceleration of this seg-

ment of the string will be neither constant over time nor uniform

across the pulse, we will pretend that it is constant for the sake of

our simple estimate. Roughly speaking, the time interval between

n/1 and n/2 is the amount of time required for the initial dent to ac-

celerate from rest and reach its normal, ﬂattened position. Of course

the tip of the triangle has a longer distance to travel than the edges,

but again we ignore the complications and simply assume that the

segment as a whole must travel a distance /. Indeed, it might seem

surprising that the triangle would so neatly spring back to a per-

fectly ﬂat shape. It is an experimental fact that it does, but our

analysis is too crude to address such details.

The string is kinked, i.e., tightly curved, at the edges of the

triangle, so it is here that there will be large forces that do not

cancel out to zero. There are two forces acting on the triangular

hump, one of magnitude T acting down and to the right, and one

of the same magnitude acting down and to the left. If the angle

of the sloping sides is θ, then the total force on the segment equals

2T sin θ. Dividing the triangle into two right triangles, we see that

sin θ equals / divided by the length of one of the sloping sides. Since

/ is much less than n, the length of the sloping side is essentially

the same as n´2, so we have sin θ = 2/´n, and 1 = 4T/´n. The

acceleration of the segment (actually the acceleration of its center

of mass) is

o =

1

:

=

4T/

jn

2

.

The time required to move a distance / under constant acceleration

o is found by solving / = (1´2)ot

2

to yield

t =

2/´o

= n

j

2T

.

Section 6.1 Free Waves 333

Our ﬁnal result for the speed of the pulses is

· = n´t

=

2T

j

.

The remarkable feature of this result is that the velocity of the

pulses does not depend at all on n or /, i.e., any triangular pulse

has the same speed. It is an experimental fact (and we will also

prove rigorously below) that any pulse of any kind, triangular or

otherwise, travels along the string at the same speed. Of course,

after so many approximations we cannot expect to have gotten all

the numerical factors right. The correct result for the speed of the

pulses is

· =

T

j

.

The importance of the above derivation lies in the insight it

brings —that all pulses move with the same speed — rather than in

the details of the numerical result. The reason for our too-high value

for the velocity is not hard to guess. It comes from the assumption

that the acceleration was constant, when actually the total force on

the segment would diminish as it ﬂattened out.

Treatment using calculus

After expending considerable eﬀort for an approximate solution,

we now display the power of calculus with a rigorous and completely

general treatment that is nevertheless much shorter and easier. Let

the ﬂat position of the string deﬁne the r axis, so that n measures

how far a point on the string is from equilibrium. The motion of

the string is characterized by n(r, t), a function of two variables.

Knowing that the force on any small segment of string depends

on the curvature of the string in that area, and that the second

derivative is a measure of curvature, it is not surprising to ﬁnd that

the inﬁnitesimal force d1 acting on an inﬁnitesimal segment dr is

given by

d1 = T

∂

2

n

∂r

2

dr .

(This can be proved by vector addition of the two inﬁnitesimal forces

acting on either side.) The symbol ∂ stands for a partial derivative,

e.g., ∂´∂r means a derivative with respect to r that is evaluated

while treating t as a constant. The acceleration is then o = d1´d:,

or, substituting d: = jdr,

∂

2

n

∂t

2

=

T

j

∂

2

n

∂r

2

.

The second derivative with respect to time is related to the second

derivative with respect to position. This is no more than a fancy

334 Chapter 6 Waves

mathematical statement of the intuitive fact developed above, that

the string accelerates so as to ﬂatten out its curves.

Before even bothering to look for solutions to this equation, we

note that it already proves the principle of superposition, because

the derivative of a sum is the sum of the derivatives. Therefore the

sum of any two solutions will also be a solution.

Based on experiment, we expect that this equation will be sat-

isﬁed by any function n(r, t) that describes a pulse or wave pattern

moving to the left or right at the correct speed ·. In general, such

a function will be of the form n = 1(r −·t) or n = 1(r +·t), where

1 is any function of one variable. Because of the chain rule, each

derivative with respect to time brings out a factor of ·. Evaluating

the second derivatives on both sides of the equation gives

(±·)

2

1

=

T

j

1

.

Squaring gets rid of the sign, and we ﬁnd that we have a valid

solution for any function 1, provided that · is given by

· =

T

j

.

6.1.3 Sound and light waves

Sound waves

The phenomenon of sound is easily found to have all the char-

acteristics we expect from a wave phenomenon:

- Sound waves obey superposition. Sounds do not knock other

sounds out of the way when they collide, and we can hear more than

one sound at once if they both reach our ear simultaneously.

- The medium does not move with the sound. Even standing in

front of a titanic speaker playing earsplitting music, we do not feel

the slightest breeze.

- The velocity of sound depends on the medium. Sound travels

faster in helium than in air, and faster in water than in helium.

Putting more energy into the wave makes it more intense, not faster.

For example, you can easily detect an echo when you clap your hands

a short distance from a large, ﬂat wall, and the delay of the echo is

no shorter for a louder clap.

Although not all waves have a speed that is independent of the

shape of the wave, and this property therefore is irrelevant to our

collection of evidence that sound is a wave phenomenon, sound does

nevertheless have this property. For instance, the music in a large

concert hall or stadium may take on the order of a second to reach

someone seated in the nosebleed section, but we do not notice or

Section 6.1 Free Waves 335

care, because the delay is the same for every sound. Bass, drums,

and vocals all head outward from the stage at 340 m/s, regardless

of their diﬀering wave shapes.

If sound has all the properties we expect from a wave, then what

type of wave is it? It is a series of compressions and expansions of the

air. Even for a very loud sound, the increase or decrease compared

to normal atmospheric pressure is no more than a part per million,

so our ears are apparently very sensitive instruments. In a vacuum,

there is no medium for the sound waves, and so they cannot exist.

The roars and whooshes of space ships in Hollywood movies are fun,

but scientiﬁcally wrong.

Light waves

Entirely similar observations lead us to believe that light is a

wave, although the concept of light as a wave had a long and tortu-

ous history. It is interesting to note that Isaac Newton very inﬂuen-

tially advocated a contrary idea about light. The belief that matter

was made of atoms was stylish at the time among radical thinkers

(although there was no experimental evidence for their existence),

and it seemed logical to Newton that light as well should be made of

tiny particles, which he called corpuscles (Latin for “small objects”).

Newton’s triumphs in the science of mechanics, i.e., the study of

matter, brought him such great prestige that nobody bothered to

question his incorrect theory of light for 150 years. One persua-

sive proof that light is a wave is that according to Newton’s theory,

two intersecting beams of light should experience at least some dis-

ruption because of collisions between their corpuscles. Even if the

corpuscles were extremely small, and collisions therefore very infre-

quent, at least some dimming should have been measurable. In fact,

very delicate experiments have shown that there is no dimming.

The wave theory of light was entirely successful up until the 20th

century, when it was discovered that not all the phenomena of light

could be explained with a pure wave theory. It is now believed that

both light and matter are made out of tiny chunks which have both

wave and particle properties. For now, we will content ourselves

with the wave theory of light, which is capable of explaining a great

many things, from cameras to rainbows.

If light is a wave, what is waving? What is the medium that

wiggles when a light wave goes by? It isn’t air. A vacuum is impen-

etrable to sound, but light from the stars travels happily through

zillions of miles of empty space. Light bulbs have no air inside them,

but that doesn’t prevent the light waves from leaving the ﬁlament.

For a long time, physicists assumed that there must be a mysteri-

ous medium for light waves, and they called it the ether (not to be

confused with the chemical). Supposedly the ether existed every-

where in space, and was immune to vacuum pumps. The details of

the story are more ﬁttingly reserved for later in this course, but the

336 Chapter 6 Waves

o / A graph of pressure ver-

sus time for a periodic sound

wave, the vowel “ah.”

p / A similar graph for a non-

periodic wave, “sh.”

q / A strip chart recorder.

r / A water wave proﬁle cre-

ated by a series of repeating

pulses.

end result was that a long series of experiments failed to detect any

evidence for the ether, and it is no longer believed to exist. Instead,

light can be explained as a wave pattern made up of electrical and

magnetic ﬁelds.

6.1.4 Periodic waves

Period and frequency of a periodic wave

You choose a radio station by selecting a certain frequency. We

have already deﬁned period and frequency for vibrations,

T = period = seconds per cycle

1 = frequency = 1´T = cycles per second

ω = angular frequency = 2π1 = radians per second

but what do they signify in the case of a wave? We can recycle our

previous deﬁnition simply by stating it in terms of the vibrations

that the wave causes as it passes a receiving instrument at a certain

point in space. For a sound wave, this receiver could be an eardrum

or a microphone. If the vibrations of the eardrum repeat themselves

over and over, i.e., are periodic, then we describe the sound wave

that caused them as periodic. Likewise we can deﬁne the period

and frequency of a wave in terms of the period and frequency of

the vibrations it causes. As another example, a periodic water wave

would be one that caused a rubber duck to bob in a periodic manner

as they passed by it.

The period of a sound wave correlates with our sensory impres-

sion of musical pitch. A high frequency (short period) is a high note.

The sounds that really deﬁne the musical notes of a song are only

the ones that are periodic. It is not possible to sing a nonperiodic

sound like “sh” with a deﬁnite pitch.

The frequency of a light wave corresponds to color. Violet is the

high-frequency end of the rainbow, red the low-frequency end. A

color like brown that does not occur in a rainbow is not a periodic

light wave. Many phenomena that we do not normally think of as

light are actually just forms of light that are invisible because they

fall outside the range of frequencies our eyes can detect. Beyond the

red end of the visible rainbow, there are infrared and radio waves.

Past the violet end, we have ultraviolet, x-rays, and gamma rays.

Graphs of waves as a function of position

Some waves, light sound waves, are easy to study by placing a

detector at a certain location in space and studying the motion as

a function of time. The result is a graph whose horizontal axis is

time. With a water wave, on the other hand, it is simpler just to

look at the wave directly. This visual snapshot amounts to a graph

of the height of the water wave as a function of position. Any wave

can be represented in either way.

Section 6.1 Free Waves 337

s / Wavelengths of linear and

circular waves.

An easy way to visualize this is in terms of a strip chart recorder,

an obsolescing device consisting of a pen that wiggles back and forth

as a roll of paper is fed under it. It can be used to record a per-

son’s electrocardiogram, or seismic waves too small to be felt as a

noticeable earthquake but detectable by a seismometer. Taking the

seismometer as an example, the chart is essentially a record of the

ground’s wave motion as a function of time, but if the paper was set

to feed at the same velocity as the motion of an earthquake wave, it

would also be a full-scale representation of the proﬁle of the actual

wave pattern itself. Assuming, as is usually the case, that the wave

velocity is a constant number regardless of the wave’s shape, know-

ing the wave motion as a function of time is equivalent to knowing

it as a function of position.

Wavelength

Any wave that is periodic will also display a repeating pattern

when graphed as a function of position. The distance spanned by

one repetition is referred to as one wavelength. The usual notation

for wavelength is λ, the Greek letter lambda. Wavelength is to space

as period is to time.

Wave velocity related to frequency and wavelength

Suppose that we create a repetitive disturbance by kicking the

surface of a swimming pool. We are essentially making a series of

wave pulses. The wavelength is simply the distance a pulse is able to

travel before we make the next pulse. The distance between pulses

is λ, and the time between pulses is the period, T, so the speed of

the wave is the distance divided by the time,

· = λ´T .

This important and useful relationship is more commonly written

in terms of the frequency,

· = 1λ .

Wavelength of radio waves example 5

> The speed of light is 3.0 10

8

m/s. What is the wavelength of

the radio waves emitted by KLON, a station whose frequency is

88.1 MHz?

> Solving for wavelength, we have

λ = v´f

= (3.0 10

8

m/s) /(88.1 10

6

s

−1

)

= 3.4 m

338 Chapter 6 Waves

t / Ultrasound, i.e., sound with

frequencies higher than the range

of human hearing, was used to

make this image of a fetus. The

resolution of the image is related

to the wavelength, since details

smaller than about one wave-

length cannot be resolved. High

resolution therefore requires a

short wavelength, corresponding

to a high frequency.

u / A water wave traveling

into a region with different depth

will change its wavelength.

The size of a radio antenna is closely related to the wavelength

of the waves it is intended to receive. The match need not be exact

(since after all one antenna can receive more than one wavelength!),

but the ordinary “whip” antenna such as a car’s is 1/4 of a wave-

length. An antenna optimized to receive KLON’s signal (which is

the only one my car radio is ever tuned to) would have a length of

(3.4 m)/4 = 0.85 m.

The equation · = 1λ deﬁnes a ﬁxed relationship between any two

of the variables if the other is held ﬁxed. The speed of radio waves

in air is almost exactly the same for all wavelengths and frequencies

(it is exactly the same if they are in a vacuum), so there is a ﬁxed

relationship between their frequency and wavelength. Thus we can

say either “Are we on the same wavelength?” or “Are we on the

same frequency?”

A diﬀerent example is the behavior of a wave that travels from

a region where the medium has one set of properties to an area

where the medium behaves diﬀerently. The frequency is now ﬁxed,

because otherwise the two portions of the wave would otherwise

get out of step, causing a kink or discontinuity at the boundary,

which would be unphysical. (A more careful argument is that a

kink or discontinuity would have inﬁnite curvature, and waves tend

to ﬂatten out their curvature. An inﬁnite curvature would ﬂatten

out inﬁnitely fast, i.e., it could never occur in the ﬁrst place.) Since

the frequency must stay the same, any change in the velocity that

results from the new medium must cause a change in wavelength.

The velocity of water waves depends on the depth of the water,

so based on λ = ·´1, we see that water waves that move into a

region of diﬀerent depth must change their wavelength, as shown in

ﬁgure u. This eﬀect can be observed when ocean waves come up to

the shore. If the deceleration of the wave pattern is sudden enough,

the tip of the wave can curl over, resulting in a breaking wave.

A note on dispersive waves

The discussion of wave velocity given here is actually a little bit

of an oversimpliﬁcation for a wave whose velocity depends on its

frequency and wavelength. Such a wave is called a dispersive wave.

Nearly all the waves we deal with in this course are nondispersive,

but the issue becomes important in chapter 13, where it is discussed

in detail.

Sinusoidal waves

Sinusoidal waves are the most important special case of periodic

waves. In fact, many scientists and engineers would be uncomfort-

able with deﬁning a waveform like the “ah” vowel sound as having

a deﬁnite frequency and wavelength, because they consider only

sine waves to be pure examples of a certain frequency and wave-

lengths. Their bias is not unreasonable, since the French mathe-

Section 6.1 Free Waves 339

w / The pattern of waves made

by a point source moving to the

right across the water. Note

the shorter wavelength of the

forward-emitted waves and

the longer wavelength of the

backward-going ones.

matician Fourier showed that any periodic wave with frequency 1

can be constructed as a superposition of sine waves with frequencies

1, 21, 31, . . . In this sense, sine waves are the basic, pure building

blocks of all waves. (Fourier’s result so surprised the mathematical

community of France that he was ridiculed the ﬁrst time he publicly

presented his theorem.)

However, what deﬁnition to use is really a matter of convenience.

Our sense of hearing perceives any two sounds having the same

period as possessing the same pitch, regardless of whether they are

sine waves or not. This is undoubtedly because our ear-brain system

evolved to be able to interpret human speech and animal noises,

which are periodic but not sinusoidal. Our eyes, on the other hand,

judge a color as pure (belonging to the rainbow set of colors) only

if it is a sine wave.

Discussion Questions

A Suppose we superimpose two sine waves with equal amplitudes

but slightly different frequencies, as shown in the ﬁgure. What will the

superposition look like? What would this sound like if they were sound

waves?

v / Discussion question A.

6.1.5 The doppler effect

Figure w shows the wave pattern made by the tip of a vibrating

rod which is moving across the water. If the rod had been vibrating

in one place, we would have seen the familiar pattern of concentric

circles, all centered on the same point. But since the source of

the waves is moving, the wavelength is shortened on one side and

lengthened on the other. This is known as the Doppler eﬀect.

Note that the velocity of the waves is a ﬁxed property of the

medium, so for example the forward-going waves do not get an extra

boost in speed as would a material object like a bullet being shot

forward from an airplane.

We can also infer a change in frequency. Since the velocity is

constant, the equation · = 1λ tells us that the change in wave-

length must be matched by an opposite change in frequency: higher

frequency for the waves emitted forward, and lower for the ones

emitted backward. The frequency Doppler eﬀect is the reason for

340 Chapter 6 Waves

the familiar dropping-pitch sound of a race car going by. As the car

approaches us, we hear a higher pitch, but after it passes us we hear

a frequency that is lower than normal.

The Doppler eﬀect will also occur if the observer is moving but

the source is stationary. For instance, an observer moving toward a

stationary source will perceive one crest of the wave, and will then be

surrounded by the next crest sooner than she otherwise would have,

because she has moved toward it and hastened her encounter with

it. Roughly speaking, the Doppler eﬀect depends only the relative

motion of the source and the observer, not on their absolute state

of motion (which is not a well-deﬁned notion in physics) or on their

velocity relative to the medium.

Restricting ourselves to the case of a moving source, and to waves

emitted either directly along or directly against the direction of mo-

tion, we can easily calculate the wavelength, or equivalently the

frequency, of the Doppler-shifted waves. Let n be the velocity of the

source. The wavelength of the forward-emitted waves is shortened

by an amount nT equal to the distance traveled by the source over

the course of one period. Using the deﬁnition 1 = 1´T and the equa-

tion · = 1λ, we ﬁnd for the wavelength λ

**of the Doppler-shifted
**

wave the equation

λ

=

1 −

n

·

λ .

A similar equation can be used for the backward-emitted waves, but

with a plus sign rather than a minus sign.

Doppler-shifted sound from a race car example 6

> If a race car moves at a velocity of 50 m/s, and the velocity of

sound is 340 m/s, by what percentage are the wavelength and

frequency of its sound waves shifted for an observer lying along

its line of motion?

> For an observer whom the car is approaching, we ﬁnd

1 −

u

v

= 0.85 ,

so the shift in wavelength is 15%. Since the frequency is inversely

proportional to the wavelength for a ﬁxed value of the speed of

sound, the frequency is shifted upward by

1/0.85 = 1.18,

i.e., a change of 18%. (For velocities that are small compared

to the wave velocities, the Doppler shifts of the wavelength and

frequency are about the same.)

Doppler shift of the light emitted by a race car example 7

> What is the percent shift in the wavelength of the light waves

emitted by a race car’s headlights?

Section 6.1 Free Waves 341

x / The galaxy M100 in the

constellation Coma Berenices.

Under higher magniﬁcation, the

milky clouds reveal themselves to

be composed of trillions of stars.

y / The telescope at Mount

Wilson used by Hubble.

> Looking up the speed of light in the back of the book, v = 3.0

10

8

m/s, we ﬁnd

1 −

u

v

= 0.99999983 ,

i.e., the percentage shift is only 0.000017%.

The second example shows that under ordinary earthbound cir-

cumstances, Doppler shifts of light are negligible because ordinary

things go so much slower than the speed of light. It’s a diﬀerent

story, however, when it comes to stars and galaxies, and this leads

us to a story that has profound implications for our understanding

of the origin of the universe.

The Big bang

As soon as astronomers began looking at the sky through tele-

scopes, they began noticing certain objects that looked like clouds

in deep space. The fact that they looked the same night after night

meant that they were beyond the earth’s atmosphere. Not know-

ing what they really were, but wanting to sound oﬃcial, they called

them “nebulae,” a Latin word meaning “clouds” but sounding more

impressive. In the early 20th century, astronomers realized that al-

though some really were clouds of gas (e.g., the middle “star” of

Orion’s sword, which is visibly fuzzy even to the naked eye when

conditions are good), others were what we now call galaxies: virtual

island universes consisting of trillions of stars (for example the An-

dromeda Galaxy, which is visible as a fuzzy patch through binoc-

ulars). Three hundred years after Galileo had resolved the Milky

Way into individual stars through his telescope, astronomers real-

ized that the universe is made of galaxies of stars, and the Milky

Way is simply the visible part of the ﬂat disk of our own galaxy,

seen from inside.

This opened up the scientiﬁc study of cosmology, the structure

and history of the universe as a whole, a ﬁeld that had not been

seriously attacked since the days of Newton. Newton had realized

that if gravity was always attractive, never repulsive, the universe

would have a tendency to collapse. His solution to the problem was

to posit a universe that was inﬁnite and uniformly populated with

matter, so that it would have no geometrical center. The gravita-

tional forces in such a universe would always tend to cancel out by

symmetry, so there would be no collapse. By the 20th century, the

belief in an unchanging and inﬁnite universe had become conven-

tional wisdom in science, partly as a reaction against the time that

had been wasted trying to ﬁnd explanations of ancient geological

phenomena based on catastrophes suggested by biblical events like

Noah’s ﬂood.

In the 1920’s astronomer Edwin Hubble began studying the

Doppler shifts of the light emitted by galaxies. A former college

342 Chapter 6 Waves

z / How do astronomers know

what mixture of wavelengths a

star emitted originally, so that

they can tell how much the

Doppler shift was? This image

(obtained by the author with

equipment costing about $5, and

no telescope) shows the mixture

of colors emitted by the star

Sirius. (If you have the book in

black and white, blue is on the left

and red on the right.) The star

appears white or bluish-white to

the eye, but any light looks white

if it contains roughly an equal

mixture of the rainbow colors,

i.e., of all the pure sinusoidal

waves with wavelengths lying in

the visible range. Note the black

“gap teeth.” These are the ﬁn-

gerprint of hydrogen in the outer

atmosphere of Sirius. These

wavelengths are selectively ab-

sorbed by hydrogen. Sirius is in

our own galaxy, but similar stars

in other galaxies would have

the whole pattern shifted toward

the red end, indicating they are

moving away from us.

football player with a serious nicotine addiction, Hubble did not

set out to change our image of the beginning of the universe. His

autobiography seldom even mentions the cosmological discovery for

which he is now remembered. When astronomers began to study the

Doppler shifts of galaxies, they expected that each galaxy’s direction

and velocity of motion would be essentially random. Some would be

approaching us, and their light would therefore be Doppler-shifted

to the blue end of the spectrum, while an equal number would be

expected to have red shifts. What Hubble discovered instead was

that except for a few very nearby ones, all the galaxies had red

shifts, indicating that they were receding from us at a hefty frac-

tion of the speed of light. Not only that, but the ones farther away

were receding more quickly. The speeds were directly proportional

to their distance from us.

Did this mean that the earth (or at least our galaxy) was the

center of the universe? No, because Doppler shifts of light only

depend on the relative motion of the source and the observer. If

we see a distant galaxy moving away from us at 10% of the speed

of light, we can be assured that the astronomers who live in that

galaxy will see ours receding from them at the same speed in the

opposite direction. The whole universe can be envisioned as a rising

loaf of raisin bread. As the bread expands, there is more and more

space between the raisins. The farther apart two raisins are, the

greater the speed with which they move apart.

The universe’s expansion is presumably decelerating because of

gravitational attraction among the galaxies. We do not presently

know whether there is enough mass in the universe to cause enough

attraction to halt the expansion eventually. But perhaps more in-

teresting than the distant future of the universe is what its present

expansion implies about its past. Extrapolating backward in time

using the known laws of physics, the universe must have been denser

and denser at earlier and earlier times. At some point, it must have

been extremely dense and hot, and we can even detect the radia-

tion from this early ﬁreball, in the form of microwave radiation that

permeates space. The phrase Big Bang was originally coined by the

doubters of the theory to make it sound ridiculous, but it stuck,

and today essentially all astronomers accept the Big Bang theory

based on the very direct evidence of the red shifts and the cosmic

microwave background radiation.

Finally it should be noted what the Big Bang theory is not. It is

not an explanation of why the universe exists. Such questions belong

to the realm of religion, not science. Science can ﬁnd ever simpler

and ever more fundamental explanations for a variety of phenom-

ena, but ultimately science takes the universe as it is according to

observations.

Furthermore, there is an unfortunate tendency, even among many

Section 6.1 Free Waves 343

aa / Shock waves are cre-

ated by the X-15 rocket plane,

ﬂying at 3.5 times the speed of

sound.

ab / This ﬁghter jet has just

accelerated past the speed of

sound. The sudden decom-

pression of the air causes water

droplets to condense, forming a

cloud.

scientists, to speak of the Big Bang theory was a description of the

very ﬁrst event in the universe, which caused everything after it.

Although it is true that time may have had a beginning (Einstein’s

theory of general relativity admits such a possibility), the methods

of science can only work within a certain range of conditions such

as temperature and density. Beyond a temperature of about 10

9

K,

the random thermal motion of subatomic particles becomes so rapid

that its velocity is comparable to the speed of light. Early enough in

the history of the universe, when these temperatures existed, New-

tonian physics becomes less accurate, and we must describe nature

using the more general description given by Einstein’s theory of

relativity, which encompasses Newtonian physics as a special case.

At even higher temperatures, beyond about 10

33

degrees, physicists

know that Einstein’s theory as well begins to fall apart, but we don’t

know how to construct the even more general theory of nature that

would work at those temperatures. No matter how far physics pro-

gresses, we will never be able to describe nature at inﬁnitely high

temperatures, since there is a limit to the temperatures we can ex-

plore by experiment and observation in order to guide us to the

right theory. We are conﬁdent that we understand the basic physics

involved in the evolution of the universe starting a few minutes after

the Big Bang, and we may be able to push back to milliseconds or

microseconds after it, but we cannot use the methods of science to

deal with the beginning of time itself.

A note on doppler shifts of light

If Doppler shifts depend only on the relative motion of the source

and receiver, then there is no way for a person moving with the

source and another person moving with the receiver to determine

who is moving and who isn’t. Either can blame the Doppler shift

entirely on the other’s motion and claim to be at rest herself. This is

entirely in agreement with the principle stated originally by Galileo

that all motion is relative.

On the other hand, a careful analysis of the Doppler shifts of

water or sound waves shows that it is only approximately true, at

low speeds, that the shifts just depend on the relative motion of the

source and observer. For instance, it is possible for a jet plane to

keep up with its own sound waves, so that the sound waves appear

to stand still to the pilot of the plane. The pilot then knows she

is moving at exactly the speed of sound. The reason this doesn’t

disprove the relativity of motion is that the pilot is not really de-

termining her absolute motion but rather her motion relative to the

air, which is the medium of the sound waves.

Einstein realized that this solved the problem for sound or water

waves, but would not salvage the principle of relative motion in the

case of light waves, since light is not a vibration of any physical

medium such as water or air. Beginning by imagining what a beam

344 Chapter 6 Waves

of light would look like to a person riding a motorcycle alongside it,

Einstein eventually came up with a radical new way of describing

the universe, in which space and time are distorted as measured

by observers in diﬀerent states of motion. As a consequence of this

Theory of Relativity, he showed that light waves would have Doppler

shifts that would exactly, not just approximately, depend only on

the relative motion of the source and receiver.

Discussion Questions

A If an airplane travels at exactly the speed of sound, what would be

the wavelength of the forward-emitted part of the sound waves it emitted?

How should this be interpreted, and what would actually happen? What

happens if it’s going faster than the speed of sound? Can you use this to

explain what you see in ﬁgures aa and ab?

B If bullets go slower than the speed of sound, why can a supersonic

ﬁghter plane catch up to its own sound, but not to its own bullets?

C If someone inside a plane is talking to you, should their speech be

Doppler shifted?

Section 6.1 Free Waves 345

a / A cross-sectional view of

a human body, showing the vocal

tract.

b / Circular water waves are

reﬂected from a boundary on the

left. (PSSC Physics)

6.2 Bounded Waves

Speech is what separates humans most decisively from animals. No

other species can master syntax, and even though chimpanzees can

learn a vocabulary of hand signs, there is an unmistakable diﬀerence

between a human infant and a baby chimp: starting from birth, the

human experiments with the production of complex speech sounds.

Since speech sounds are instinctive for us, we seldom think about

them consciously. How do we control sound waves so skillfully?

Mostly we do it by changing the shape of a connected set of hollow

cavities in our chest, throat, and head. Somehow by moving the

boundaries of this space in and out, we can produce all the vowel

sounds. Up until now, we have been studying only those properties

of waves that can be understood as if they existed in an inﬁnite,

open space with no boundaries. In this chapter we address what

happens when a wave is conﬁned within a certain space, or when a

wave pattern encounters the boundary between two diﬀerent media,

such as when a light wave moving through air encounters a glass

windowpane.

6.2.1 Reﬂection, transmission, and absorption

Reﬂection and transmission

Sound waves can echo back from a cliﬀ, and light waves are

reﬂected from the surface of a pond. We use the word reﬂection,

normally applied only to light waves in ordinary speech, to describe

any such case of a wave rebounding from a barrier. Figure (a) shows

a circular water wave being reﬂected from a straight wall. In this

chapter, we will concentrate mainly on reﬂection of waves that move

in one dimension, as in ﬁgure c/1.

Wave reﬂection does not surprise us. After all, a material object

such as a rubber ball would bounce back in the same way. But waves

are not objects, and there are some surprises in store.

First, only part of the wave is usually reﬂected. Looking out

through a window, we see light waves that passed through it, but a

person standing outside would also be able to see her reﬂection in

the glass. A light wave that strikes the glass is partly reﬂected and

partly transmitted (passed) by the glass. The energy of the original

wave is split between the two. This is diﬀerent from the behavior of

the rubber ball, which must go one way or the other, not both.

Second, consider what you see if you are swimming underwater

and you look up at the surface. You see your own reﬂection. This

is utterly counterintuitive, since we would expect the light waves to

burst forth to freedom in the wide-open air. A material projectile

shot up toward the surface would never rebound from the water-air

boundary!

What is it about the diﬀerence between two media that causes

346 Chapter 6 Waves

waves to be partly reﬂected at the boundary between them? Is

it their density? Their chemical composition? Ultimately all that

matters is the speed of the wave in the two media. A wave is partially

reﬂected and partially transmitted at the boundary between media

in which it has diﬀerent speeds. For example, the speed of light

waves in window glass is about 30% less than in air, which explains

why windows always make reﬂections. Figure c shows examples of

wave pulses being reﬂected at the boundary between two coil springs

of diﬀerent weights, in which the wave speed is diﬀerent.

c / 1. A wave on a coil spring,

initially traveling to the left, is re-

ﬂected from the ﬁxed end. 2. A

wave in the lighter spring, where

the wave speed is greater, trav-

els to the left and is then partly

reﬂected and partly transmitted at

the boundary with the heavier coil

spring, which has a lower wave

speed. The reﬂection is inverted.

3. A wave moving to the right

in the heavier spring is partly re-

ﬂected at the boundary with the

lighter spring. The reﬂection is

uninverted. (PSSC Physics)

Reﬂections such as b and c/1, where a wave encounters a massive

ﬁxed object, can usually be understood on the same basis as cases

like c/2 and c/3 where two media meet. Example c/1, for instance,

is like a more extreme version of example c/2. If the heavy coil

spring in c/2 was made heavier and heavier, it would end up acting

like the ﬁxed wall to which the light spring in c/1 has been attached.

self-check B

In ﬁgure c/1, the reﬂected pulse is upside-down, but its depth is just as

big as the original pulse’s height. How does the energy of the reﬂected

pulse compare with that of the original? > Answer, p. 862

Fish have internal ears. example 8

Why don’t ﬁsh have ear-holes? The speed of sound waves in

a ﬁsh’s body is not much different from their speed in water, so

sound waves are not strongly reﬂected from a ﬁsh’s skin. They

pass right through its body, so ﬁsh can have internal ears.

Section 6.2 Bounded Waves 347

d / An uninverted reﬂection. The

reﬂected pulse is reversed front

to back, but is not upside-down.

e / An inverted reﬂection. The

reﬂected pulse is reversed both

front to back and top to bottom.

Whale songs traveling long distances example 9

Sound waves travel at drastically different speeds through rock,

water, and air. Whale songs are thus strongly reﬂected both at

both the bottom and the surface. The sound waves can travel

hundreds of miles, bouncing repeatedly between the bottom and

the surface, and still be detectable. Sadly, noise pollution from

ships has nearly shut down this cetacean version of the inter-

net.

Long-distance radio communication example 10

Radio communication can occur between stations on opposite

sides of the planet. The mechanism is entirely similar to the one

explained in the previous example, but the three media involved

are the earth, the atmosphere, and the ionosphere.

self-check C

Sonar is a method for ships and submarines to detect each other by

producing sound waves and listening for echoes. What properties would

an underwater object have to have in order to be invisible to sonar? >

Answer, p. 862

The use of the word “reﬂection” naturally brings to mind the cre-

ation of an image by a mirror, but this might be confusing, because

we do not normally refer to “reﬂection” when we look at surfaces

that are not shiny. Nevertheless, reﬂection is how we see the surfaces

of all objects, not just polished ones. When we look at a sidewalk,

for example, we are actually seeing the reﬂecting of the sun from

the concrete. The reason we don’t see an image of the sun at our

feet is simply that the rough surface blurs the image so drastically.

Inverted and uninverted reﬂections

Notice how the pulse reﬂected back to the right in example c/2

comes back upside-down, whereas the one reﬂected back to the left

in c/3 returns in its original upright form. This is true for other

waves as well. In general, there are two possible types of reﬂections,

a reﬂection back into a faster medium and a reﬂection back into a

slower medium. One type will always be an inverting reﬂection and

one noninverting.

It’s important to realize that when we discuss inverted and un-

inverted reﬂections on a string, we are talking about whether the

wave is ﬂipped across the direction of motion (i.e., upside-down in

these drawings). The reﬂected pulse will always be reversed front

to back, as shown in ﬁgures d and e. This is because it is traveling

in the other direction. The leading edge of the pulse is what gets

reﬂected ﬁrst, so it is still ahead when it starts back to the left —

it’s just that “ahead” is now in the opposite direction.

Absorption

So far we have tacitly assumed that wave energy remains as wave

energy, and is not converted to any other form. If this was true, then

348 Chapter 6 Waves

f / A pulse traveling through

a highly absorptive medium.

the world would become more and more full of sound waves, which

could never escape into the vacuum of outer space. In reality, any

mechanical wave consists of a traveling pattern of vibrations of some

physical medium, and vibrations of matter always produce heat, as

when you bend a coathangar back and forth and it becomes hot.

We can thus expect that in mechanical waves such as water waves,

sound waves, or waves on a string, the wave energy will gradually

be converted into heat. This is referred to as absorption. The

reduction in the wave’s energy can also be described as a reduction in

amplitude, the relationship between them being, as with a vibrating

object, 1 ∝ ¹

2

.

The wave suﬀers a decrease in amplitude, as shown in ﬁgure f.

The decrease in amplitude amounts to the same fractional change

for each unit of distance covered. For example, if a wave decreases

from amplitude 2 to amplitude 1 over a distance of 1 meter, then

after traveling another meter it will have an amplitude of 1/2. That

is, the reduction in amplitude is exponential. This can be proved

as follows. By the principle of superposition, we know that a wave

of amplitude 2 must behave like the superposition of two identical

waves of amplitude 1. If a single amplitude-1 wave would die down to

amplitude 1/2 over a certain distance, then two amplitude-1 waves

superposed on top of one another to make amplitude 1+1=2 must

die down to amplitude 1/2+1/2=1 over the same distance.

self-check D

As a wave undergoes absorption, it loses energy. Does this mean that

it slows down? > Answer, p. 862

In many cases, this frictional heating eﬀect is quite weak. Sound

waves in air, for instance, dissipate into heat extremely slowly, and

the sound of church music in a cathedral may reverberate for as much

as 3 or 4 seconds before it becomes inaudible. During this time it

has traveled over a kilometer! Even this very gradual dissipation

of energy occurs mostly as heating of the church’s walls and by the

leaking of sound to the outside (where it will eventually end up as

heat). Under the right conditions (humid air and low frequency), a

sound wave in a straight pipe could theoretically travel hundreds of

kilometers before being noticeable attenuated.

In general, the absorption of mechanical waves depends a great

deal on the chemical composition and microscopic structure of the

medium. Ripples on the surface of antifreeze, for instance, die out

extremely rapidly compared to ripples on water. For sound waves

and surface waves in liquids and gases, what matters is the viscosity

of the substance, i.e., whether it ﬂows easily like water or mercury

or more sluggishly like molasses or antifreeze. This explains why

our intuitive expectation of strong absorption of sound in water is

incorrect. Water is a very weak absorber of sound (viz. whale songs

and sonar), and our incorrect intuition arises from focusing on the

Section 6.2 Bounded Waves 349

wrong property of the substance: water’s high density, which is

irrelevant, rather than its low viscosity, which is what matters.

Light is an interesting case, since although it can travel through

matter, it is not itself a vibration of any material substance. Thus

we can look at the star Sirius, 10

14

km away from us, and be as-

sured that none of its light was absorbed in the vacuum of outer

space during its 9-year journey to us. The Hubble Space Telescope

routinely observes light that has been on its way to us since the

early history of the universe, billions of years ago. Of course the

energy of light can be dissipated if it does pass through matter (and

the light from distant galaxies is often absorbed if there happen to

be clouds of gas or dust in between).

Soundprooﬁng example 11

Typical amateur musicians setting out to soundproof their garages

tend to think that they should simply cover the walls with the

densest possible substance. In fact, sound is not absorbed very

strongly even by passing through several inches of wood. A better

strategy for soundprooﬁng is to create a sandwich of alternating

layers of materials in which the speed of sound is very different,

to encourage reﬂection.

The classic design is alternating layers of ﬁberglass and plywood.

The speed of sound in plywood is very high, due to its stiffness,

while its speed in ﬁberglass is essentially the same as its speed

in air. Both materials are fairly good sound absorbers, but sound

waves passing through a few inches of them are still not going

to be absorbed sufﬁciently. The point of combining them is that

a sound wave that tries to get out will be strongly reﬂected at

each of the ﬁberglass-plywood boundaries, and will bounce back

and forth many times like a ping pong ball. Due to all the back-

and-forth motion, the sound may end up traveling a total distance

equal to ten times the actual thickness of the soundprooﬁng be-

fore it escapes. This is the equivalent of having ten times the

thickness of sound-absorbing material.

Radio transmission example 12

A radio transmitting station must have a length of wire or cable

connecting the ampliﬁer to the antenna. The cable and the an-

tenna act as two different media for radio waves, and there will

therefore be partial reﬂection of the waves as they come from the

cable to the antenna. If the waves bounce back and forth many

times between the ampliﬁer and the antenna, a great deal of their

energy will be absorbed. There are two ways to attack the prob-

lem. One possibility is to design the antenna so that the speed of

the waves in it is as close as possible to the speed of the waves

in the cable; this minimizes the amount of reﬂection. The other

method is to connect the ampliﬁer to the antenna using a type

of wire or cable that does not strongly absorb the waves. Partial

350 Chapter 6 Waves

g / 1. A change in frequency

without a change in wavelength

would produce a discontinuity in

the wave. 2. A simple change in

wavelength without a reﬂection

would result in a sharp kink in the

wave.

reﬂection then becomes irrelevant, since all the wave energy will

eventually exit through the antenna.

Discussion Questions

A A sound wave that underwent a pressure-inverting reﬂection would

have its compressions converted to expansions and vice versa. How

would its energy and frequency compare with those of the original sound?

Would it sound any different? What happens if you swap the two wires

where they connect to a stereo speaker, resulting in waves that vibrate in

the opposite way?

6.2.2 Quantitative treatment of reﬂection

In this subsection we analyze the reasons why reﬂections occur at

a speed-changing boundary, predict quantitatively the intensities of

reﬂection and transmission, and discuss how to predict for any type

of wave which reﬂections are inverting and which are uninverting.

Why reﬂection occurs

To understand the fundamental reasons for what does occur at

the boundary between media, let’s ﬁrst discuss what doesn’t happen.

For the sake of concreteness, consider a sinusoidal wave on a string.

If the wave progresses from a heavier portion of the string, in which

its velocity is low, to a lighter-weight part, in which it is high, then

the equation · = 1λ tells us that it must change its frequency, or

its wavelength, or both. If only the frequency changed, then the

parts of the wave in the two diﬀerent portions of the string would

quickly get out of step with each other, producing a discontinuity in

the wave, g/1. This is unphysical, so we know that the wavelength

must change while the frequency remains constant, g/2.

But there is still something unphysical about ﬁgure g/2. The

sudden change in the shape of the wave has resulted in a sharp kink

at the boundary. This can’t really happen, because the medium

tends to accelerate in such a way as to eliminate curvature. A sharp

kink corresponds to an inﬁnite curvature at one point, which would

produce an inﬁnite acceleration, which would not be consistent with

the smooth pattern of wave motion envisioned in ﬁg. g/2. Waves

can have kinks, but not stationary kinks.

We conclude that without positing partial reﬂection of the wave,

we cannot simultaneously satisfy the requirements of (1) continuity

of the wave, and (2) no sudden changes in the slope of the wave. In

other words, we assume that both the wave and its derivative are

continuous functions.)

Does this amount to a proof that reﬂection occurs? Not quite.

We have only proved that certain types of wave motion are not

valid solutions. In the following subsection, we prove that a valid

solution can always be found in which a reﬂection occurs. Now in

physics, we normally assume (but seldom prove formally) that the

equations of motion have a unique solution, since otherwise a given

Section 6.2 Bounded Waves 351

h / A pulse being partially re-

ﬂected and partially transmitted

at the boundary between two

strings in which the wave speed

is different. The top drawing

shows the pulse heading to the

right, toward the heaver string.

For clarity, all but the ﬁrst and

last drawings are schematic.

Once the reﬂected pulse begins

to emerge from the boundary,

it adds together with the trailing

parts of the incident pulse. Their

sum, shown as a wider line, is

what is actually observed.

set of initial conditions could lead to diﬀerent behavior later on,

but the Newtonian universe is supposed to be deterministic. Since

the solution must be unique, and we derive below a valid solution

involving a reﬂected pulse, we will have ended up with what amounts

to a proof of reﬂection.

Intensity of reﬂection

I will now show, in the case of waves on a string, that it is possible

to satisfy the physical requirements given above by constructing a

reﬂected wave, and as a bonus this will produce an equation for

the proportions of reﬂection and transmission and a prediction as

to which conditions will lead to inverted and which to uninverted

reﬂection. We assume only that the principle of superposition holds,

which is a good approximations for waves on a string of suﬃciently

small amplitude.

Let the unknown amplitudes of the reﬂected and transmitted

waves be 1 and T, respectively. An inverted reﬂection would be

represented by a negative value of 1. We can without loss of gen-

erality take the incident (original) wave to have unit amplitude.

Superposition tells us that if, for instance, the incident wave had

double this amplitude, we could immediately ﬁnd a corresponding

solution simply by doubling 1 and T.

Just to the left of the boundary, the height of the wave is given

by the height 1 of the incident wave, plus the height 1 of the part

of the reﬂected wave that has just been created and begun heading

back, for a total height of 1+1. On the right side immediately next

to the boundary, the transmitted wave has a height T. To avoid a

discontinuity, we must have

1 + 1 = T .

Next we turn to the requirement of equal slopes on both sides of

the boundary. Let the slope of the incoming wave be s immediately

to the left of the junction. If the wave was 100% reﬂected, and

without inversion, then the slope of the reﬂected wave would be −:,

since the wave has been reversed in direction. In general, the slope

of the reﬂected wave equals −:1, and the slopes of the superposed

waves on the left side add up to : − :1. On the right, the slope

depends on the amplitude, T, but is also changed by the stretching

or compression of the wave due to the change in speed. If, for

example, the wave speed is twice as great on the right side, then

the slope is cut in half by this eﬀect. The slope on the right is

therefore :(·

1

´·

2

)T, where ·

1

is the velocity in the original medium

and ·

2

the velocity in the new medium. Equality of slopes gives

: −:1 = :(·

1

´·

2

)T, or

1 −1 =

·

1

·

2

T .

352 Chapter 6 Waves

i / A wave pattern in freeway

trafﬁc.

Solving the two equations for the unknowns 1 and T gives

1 =

·

2

−·

1

·

2

+ ·

1

and

T =

2·

2

·

2

+ ·

1

.

The ﬁrst equation shows that there is no reﬂection unless the

two wave speeds are diﬀerent, and that the reﬂection is inverted in

reﬂection back into a fast medium.

The energies of the transmitted and reﬂected wavers always add

up to the same as the energy of the original wave. There is never

any abrupt loss (or gain) in energy when a wave crosses a boundary;

conversion of wave energy to heat occurs for many types of waves,

but it occurs throughout the medium. The equation for T, surpris-

ingly, allows the amplitude of the transmitted wave to be greater

than 1, i.e., greater than that of the incident wave. This does not

violate conservation of energy, because this occurs when the second

string is less massive, reducing its kinetic energy, and the trans-

mitted pulse is broader and less strongly curved, which lessens its

potential energy.

Inverted and uninverted reﬂections in general (optional)

For waves on a string, reﬂections back into a faster medium are

inverted, while those back into a slower medium are uninverted. Is

this true for all types of waves? The rather subtle answer is that it

depends on what property of the wave you are discussing.

Let’s start by considering wave disturbances of freeway traﬃc.

Anyone who has driven frequently on crowded freeways has observed

the phenomenon in which one driver taps the brakes, starting a chain

reaction that travels backward down the freeway as each person in

turn exercises caution in order to avoid rear-ending anyone. The

reason why this type of wave is relevant is that it gives a simple,

easily visualized example of our description of a wave depends on

which aspect of the wave we have in mind. In steadily ﬂowing free-

way traﬃc, both the density of cars and their velocity are constant

all along the road. Since there is no disturbance in this pattern of

constant velocity and density, we say that there is no wave. Now if

a wave is touched oﬀ by a person tapping the brakes, we can either

describe it as a region of high density or as a region of decreasing

velocity.

The freeway traﬃc wave is in fact a good model of a sound wave,

and a sound wave can likewise be described either by the density

(or pressure) of the air or by its speed. Likewise many other types

of waves can be described by either of two functions, one of which

is often the derivative of the other with respect to position.

Section 6.2 Bounded Waves 353

k / A pulse encounters two

boundaries.

l / A sine wave has been reﬂected

at two different boundaries, and

the two reﬂections interfere.

j / In the mirror image, the

areas of positive excess trafﬁc

density are still positive, but

the velocities of the cars have

all been reversed, so areas of

positive excess velocity have

been turned into negative ones.

Now let’s consider reﬂections. If we observe the freeway wave in

a mirror, the high-density area will still appear high in density, but

velocity in the opposite direction will now be described by a neg-

ative number. A person observing the mirror image will draw the

same density graph, but the velocity graph will be ﬂipped across the

r axis, and its original region of negative slope will now have posi-

tive slope. Although I don’t know any physical situation that would

correspond to the reﬂection of a traﬃc wave, we can immediately ap-

ply the same reasoning to sound waves, which often do get reﬂected,

and determine that a reﬂection can either be density-inverting and

velocity-uninverting or density-uninverting and velocity-inverting.

This same type of situation will occur over and over as one en-

counters new types of waves, and to apply the analogy we need

only determine which quantities, like velocity, become negated in a

mirror image and which, like density, stay the same.

A light wave, for instance consists of a traveling pattern of elec-

tric and magnetic ﬁelds. All you need to know in order to analyze the

reﬂection of light waves is how electric and magnetic ﬁelds behave

under reﬂection; you don’t need to know any of the detailed physics

of electricity and magnetism. An electric ﬁeld can be detected, for

example, by the way one’s hair stands on end. The direction of

the hair indicates the direction of the electric ﬁeld. In a mirror im-

age, the hair points the other way, so the electric ﬁeld is apparently

reversed in a mirror image. The behavior of magnetic ﬁelds, how-

ever, is a little tricky. The magnetic properties of a bar magnet,

for instance, are caused by the aligned rotation of the outermost

orbiting electrons of the atoms. In a mirror image, the direction of

rotation is reversed, say from clockwise to counterclockwise, and so

the magnetic ﬁeld is reversed twice: once simply because the whole

picture is ﬂipped and once because of the reversed rotation of the

electrons. In other words, magnetic ﬁelds do not reverse themselves

in a mirror image. We can thus predict that there will be two pos-

sible types of reﬂection of light waves. In one, the electric ﬁeld is

inverted and the magnetic ﬁeld uninverted. In the other, the electric

ﬁeld is uninverted and the magnetic ﬁeld inverted.

6.2.3 Interference effects

If you look at the front of a pair of high-quality binoculars, you

will notice a greenish-blue coating on the lenses. This is advertised

as a coating to prevent reﬂection. Now reﬂection is clearly undesir-

able — we want the light to go in the binoculars — but so far I’ve

described reﬂection as an unalterable fact of nature, depending only

on the properties of the two wave media. The coating can’t change

the speed of light in air or in glass, so how can it work? The key is

that the coating itself is a wave medium. In other words, we have

a three-layer sandwich of materials: air, coating, and glass. We will

analyze the way the coating works, not because optical coatings are

354 Chapter 6 Waves

an important part of your education but because it provides a good

example of the general phenomenon of wave interference eﬀects.

There are two diﬀerent interfaces between media: an air-coating

boundary and a coating-glass boundary. Partial reﬂection and par-

tial transmission will occur at each boundary. For ease of visual-

ization let’s start by considering an equivalent system consisting of

three dissimilar pieces of string tied together, and a wave pattern

consisting initially of a single pulse. Figure k/1 shows the incident

pulse moving through the heavy rope, in which its velocity is low.

When it encounters the lighter-weight rope in the middle, a faster

medium, it is partially reﬂected and partially transmitted. (The

transmitted pulse is bigger, but nevertheless has only part of the

original energy.) The pulse transmitted by the ﬁrst interface is then

partially reﬂected and partially transmitted by the second bound-

ary, k/3. In ﬁgure k/4, two pulses are on the way back out to the

left, and a single pulse is heading oﬀ to the right. (There is still a

weak pulse caught between the two boundaries, and this will rattle

back and forth, rapidly getting too weak to detect as it leaks energy

to the outside with each partial reﬂection.)

Note how, of the two reﬂected pulses in k/4, one is inverted and

one uninverted. One underwent reﬂection at the ﬁrst boundary (a

reﬂection back into a slower medium is uninverted), but the other

was reﬂected at the second boundary (reﬂection back into a faster

medium is inverted).

Now let’s imagine what would have happened if the incoming

wave pattern had been a long sinusoidal wave train instead of a

single pulse. The ﬁrst two waves to reemerge on the left could be

in phase, l/1, or out of phase, l/2, or anywhere in between. The

amount of lag between them depends entirely on the width of the

middle segment of string. If we choose the width of the middle string

segment correctly, then we can arrange for destructive interference

to occur, l/2, with cancellation resulting in a very weak reﬂected

wave.

This whole analysis applies directly to our original case of optical

coatings. Visible light from most sources does consist of a stream of

short sinusoidal wave-trains such as the ones drawn above. The only

real diﬀerence between the waves-on-a-rope example and the case of

an optical coating is that the ﬁrst and third media are air and glass,

in which light does not have the same speed. However, the general

result is the same as long as the air and the glass have light-wave

speeds that either both greater than the coating’s or both less than

the coating’s.

The business of optical coatings turns out to be a very arcane

one, with a plethora of trade secrets and “black magic” techniques

handed down from master to apprentice. Nevertheless, the ideas

you have learned about waves in general are suﬃcient to allow you

Section 6.2 Bounded Waves 355

m / A pulse bounces back

and forth.

n / We model a guitar string

attached to the guitar’s body at

both ends as a light-weight string

attached to extremely heavy

strings at its ends.

to come to some deﬁnite conclusions without any further technical

knowledge. The self-check and discussion questions will direct you

along these lines of thought.

self-check E

Color corresponds to wavelength of light waves. Is it possible to choose

a thickness for an optical coating that will produce destructive interfer-

ence for all colors of light? > Answer, p.

862

This example was typical of a wide variety of wave interference

eﬀects. With a little guidance, you are now ready to ﬁgure out

for yourself other examples such as the rainbow pattern made by a

compact disc or by a layer of oil on a puddle.

Discussion Questions

A Is it possible to get complete destructive interference in an optical

coating, at least for light of one speciﬁc wavelength?

B Sunlight consists of sinusoidal wave-trains containing on the order

of a hundred cycles back-to-back, for a length of something like a tenth of

a millimeter. What happens if you try to make an optical coating thicker

than this?

C Suppose you take two microscope slides and lay one on top of the

other so that one of its edges is resting on the corresponding edge of the

bottom one. If you insert a sliver of paper or a hair at the opposite end,

a wedge-shaped layer of air will exist in the middle, with a thickness that

changes gradually from one end to the other. What would you expect to

see if the slides were illuminated from above by light of a single color?

How would this change if you gradually lifted the lower edge of the top

slide until the two slides were ﬁnally parallel?

D An observation like the one described in discussion question C was

used by Newton as evidence against the wave theory of light! If Newton

didn’t know about inverting and noninverting reﬂections, what would have

seemed inexplicable to him about the region where the air layer had zero

or nearly zero thickness?

6.2.4 Waves bounded on both sides

In the example of the previous section, it was theoretically true

that a pulse would be trapped permanently in the middle medium,

but that pulse was not central to our discussion, and in any case it